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[Paparazzi-devel] PPRZLINK

From: Gautier Hattenberger
Subject: [Paparazzi-devel] PPRZLINK
Date: Sat, 23 Jan 2016 23:03:37 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:38.0) Gecko/20100101 Thunderbird/38.5.1

Dear all,

We are happy to introduce a new design for the communication system of Paparazzi. It is called PPRZLINK and it is obviously inspired by mavlink for some aspects.

So what have changed? For now, nothing concerning the messages and the protocol (but we still plan to do that someday...). The changes are related to the fact that the messages definition, the code generator and the utility libraries (ocaml, python) have been split from the code base and are hosted in a dedicated github repository

The main benefit is that it should be easier now to integrate the Paparazzi message system to other projects. Another important change is that the code generator is now in Python, mostly based on mavlink generator (so no more excuses about not knowing Ocaml).

If you pull the latest master code, you should (TM) be able to use this new feature straight after rebuilding the project. Here is a list of a few changes that might impact your work if you have some personal developments involving messages: - the file conf/messages.xml has been removed and the messages definition provided by pprzlink is used by default - if this file still exists (because you have personal messages not pushed upstream), it will be used instead of the default one - generated C files are in var/include/pprzlink and var/share/pprzlink folders, messages.xml and units.xml files are also copied in var folder for use in ground segment programs - if you want to make a pull request involving changes in message definition, you should also make a pull request in pprzlink for that (but as said before, you can use a custom conf/messages.xml file for development purpose)

If you have any troubles regarding this rather important change, don't hesitate to let us know. We hope this will help you to develop new things communicating with Paparazzi.

Happy flights!

Gautier for the Paparazzi Dev Team

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