Use GLOBAL_POSITION_INT instead of VFR_HUD to set altitude and speeds…

[anbello]

… in copter like in plane

[anbello]

This is necessary because after a commit on 29 May 2018 Arducopter always return height above MSL in VFR_HUD message whereas GLOBAL_POSITION_INT return relative alt.
This also resolve a problem with Follow Me on Tower.

[peterbarker]

My bad for killing this, sorry.

I'm a touch confused as to why you've implemented this in org.droidplanner.services.android.impl.core.drone.autopilot.apm.ArduCopter rather than in org.droidplanner.services.android.impl.core.drone.autopilot.apm.ArduPilot

After all, this problem was caused by the effort to make all of the vehicles behave the same over MAVLink as far as we can!

By-the-by, there's a low-bandwidth google group we formed to try to coordinate this sort of thing with GCS authors: https://groups.google.com/forum/#!forum/ardupilot-gcs

[anbello]

My bad for killing this, sorry.

Don't worry that commit did the right thing

I'm a touch confused as to why you've implemented this in org.droidplanner.services.android.impl.core.drone.autopilot.apm.ArduCopter rather than in org.droidplanner.services.android.impl.core.drone.autopilot.apm.ArduPilot

In part for the lack of programming skill and in part because I see that in ArduPlane was implemented in the same way

After all, this problem was caused by the effort to make all of the vehicles behave the same over MAVLink as far as we can!

By-the-by, there's a low-bandwidth google group we formed to try to coordinate this sort of thing with GCS authors: https://groups.google.com/forum/#!forum/ardupilot-gcs

Thanks, I will try to follow this group

[billbonney]

I agree this should be refactored from ArduPlane code into Ardupilot base class. Then any ArduPIlot variant will have the same behaviour. That said older variants would not be able to use the library. It should really be dependent on wether it is new or old FW.

Do you think you can add a check for the FW version and modify the behaviour?

[anbello]

I agree this should be refactored from ArduPlane code into Ardupilot base class. Then any ArduPIlot variant will have the same behaviour. That said older variants would not be able to use the library. It should really be dependent on wether it is new or old FW.

Do you think you can add a check for the FW version and modify the behaviour?

I can move the new code from ArduCopter to base class ArduPilot. ArduPlane already override the two methods processVfrHud and processGlobalPositionInt before my PR.

I don't think there is the need to check for FW version, the info about altitude and speed are sent to FC with setAltitudeGroundAndAirSpeeds method, this method, before my PR, was called by processVfrHud and now by processGlobalPositionInt, FC receive the right info independently from FW version.
But I could be wrong, I will test this.

[anbello]

I did the changes in ArduPilot base class. Do you think I did it the right way?

[peterbarker]

Could just kill this entirely.

[anbello]

OK done.

[peterbarker]

Haven't tested it, but this looks to be the right shape.