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paparazzi / pprzlink

Message and communication library for the Paparazzi UAV system
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message for taking over INDI guidance from ground #72

Closed noether closed 6 years ago

noether commented 6 years ago

One can control a vehicle from the ground by overriding the on-board INDI guidance with this message. For example, we use this for the formation control of different rotorcraft where all the desired accelerations are calculated on the ground.

podhrmic commented 6 years ago

@noether is this accompanied by a PR in paparazzi? The pprzlink side looks good to me, as it is just adding a message, more interesting will be to see how the message is handled on the paparazzi side.

noether commented 6 years ago

Yes. I think the PR in pprz will be ready within next week.

In fact, I am thinking about changing the name of the message, since the FC(formation control) is just an application of taking over the guidance_indi.

gautierhattenberger commented 6 years ago

I also think the name is not adapted. It can be something more generic like ACCEL_SETPOINT. It doesn't have to be linked to a specific controller even if it is only implemented for INDI at the moment. Also, it is probably better to either specify the axis in the message name (something like ACCEL_NED_SETPOINT or use the dim field as a flag (and rename it) to tell if it is NED/ENU, LTP/BODY, XY enabled, Z enabled.

noether commented 6 years ago

I think it is better ACCEL_SETPOINT and rename "dim" to "flag", so as you say, the user of the msg can employ this field up to his convenience.

noether commented 6 years ago

I have rewritten the description. Now this msg should be ok for more general porpuses.