[paparazzi-commits] [paparazzi/paparazzi] da5c42: [flight_plan] add binding to ABI messages from fli...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: da5c424adaccac7ac191593317a87d57e31d18cb
      
https://github.com/paparazzi/paparazzi/commit/da5c424adaccac7ac191593317a87d57e31d18cb
  Author: Gautier Hattenberger <address@hidden>
  Date:   2017-08-23 (Wed, 23 Aug 2017)

  Changed paths:
    M conf/flight_plans/flight_plan.dtd
    M sw/airborne/firmwares/fixedwing/nav.c
    M sw/airborne/firmwares/rotorcraft/navigation.c
    M sw/tools/generators/gen_flight_plan.ml

  Log Message:
  -----------
  [flight_plan] add binding to ABI messages from flight plan (#2106)

This feature allows to create an automatic binding to a ABI message
while specifying the list of variable names ('_' are ignored).
A local (static) variable is updated to the latest value each time a new
message is received and it can be read in any flight plan instruction.

Example of usage:

 <variables>
  <abi_binding name="VELOCITY_ESTIMATE" vars="_, vx, vy, vz, _"/>
 </variables>

please not the in this example, the first and the last variable are
ignored but the number of variable must match the number of fields in
ABI messages description (conf/abi.xml).

An extra attribute 'id' allows to set a specific sender ID (by default
ABI_BROADCAST).