Received: by 10.142.201.5 with SMTP id y5mr3774680wff.29.1297337535758; Thu, 10 Feb 2011 03:32:15 -0800 (PST) X-BeenThere: qgroundcontrol@googlegroups.com Received: by 10.142.201.17 with SMTP id y17ls2721809wff.1.p; Thu, 10 Feb 2011 03:32:15 -0800 (PST) MIME-Version: 1.0 Received: by 10.142.141.14 with SMTP id o14mr20818wfd.53.1297337535070; Thu, 10 Feb 2011 03:32:15 -0800 (PST) Received: by t19g2000prd.googlegroups.com with HTTP; Thu, 10 Feb 2011 03:32:15 -0800 (PST) Date: Thu, 10 Feb 2011 03:32:15 -0800 (PST) X-IP: 84.73.40.20 User-Agent: G2/1.0 X-HTTP-UserAgent: Mozilla/5.0 (Macintosh; U; Intel Mac OS X 10_6_6; de-de) AppleWebKit/533.18.1 (KHTML, like Gecko) Version/5.0.2 Safari/533.18.5,gzip(gfe) Message-ID: <64c1b8a8-b8d8-4370-bc27-240948de5a08@t19g2000prd.googlegroups.com> Subject: MAVLink changes / updates to VERSION 2 From: qgroundcontrol <pix...@student.ethz.ch> To: QGroundControl <qground...@googlegroups.com> Content-Type: text/plain; charset=ISO-8859-1 Hi all, I have today updated the protocol version to 2. This was necessary to allow a minor cleanup, which is part of the preparation for a first stable MAVLink release along with the release of QGroundControl 0.8.3 stable. I apologize for any inconvenience caused, but this is a major step from simple waypoint navigation to full-fledged autonomous mission planning. It will only affect your code in the sense that you might have to rename very few variables. The changes are minor and involve only renaming, no functional changes, but if you don't use the autogenerated C files you might want to check the following things: - In the waypoint interface: - waypoint.orbit has been renamed to waypoint.param3 - waypoint.yaw has been renamed to waypoint.param4 - waypoint.orbit_direction has been removed. New convention: positive orbit (param3): Clockwise, negative orbit: counter-clockwise - waypoint.action has been renamed to waypoint.command. This field will in the future be filled with MAV_COMMAND values. MAV_ACTION is still valid, but will deprecate over the time. We're currently in the process of filling all actions into the new MAV_COMMAND structure. - IDs changed for the MAV_DATA_STREAM enum, if you used the names and not the IDs you're fine - No packet IDs changed - Currently unused packets like safety area cleaned up - Added new packets helpful for fixed wing and general development - VFR_HUD - Contains airspeed, groundspeed, altitude, etc. Very helpful to watch the vitals of a fixed wing - NAV_CONTROLLER_OUTPUT - Contains typical fixed wing controller output - GPS_RAW_INT - GPS raw values scaled as integer. Will avoid float precision limitations - SCALED_IMU - IMU measurement values scaled to SI units. RAW_IMU should only be used for truly raw sensor values in the future. Please feel free to post any comments. Feedback is very welcome as we're trying to approach a final release version. Please also feel free to ask any questions and give feedback if the changes pose issues for you.
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