Merge branch 'master' of github.com:mavlink/qgroundcontrol

src/input/JoystickInput.cc

@@ -95,7 +95,7 @@ void JoystickInput::init()
     // Wait for joysticks if none is connected
     while (numJoysticks == 0)
     {
-        MG::SLEEP::msleep(800);
+        QGC::SLEEP::msleep(800);
         // INITIALIZE SDL Joystick support
         if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0)
         {

src/uas/UAS.cc

@@ -94,7 +94,9 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     simulation(new QGCFlightGearLink(this)),
     isLocalPositionKnown(false),
     isGlobalPositionKnown(false),
-    systemIsArmed(false)
+    systemIsArmed(false),
+    nedPosGlobalOffset(0,0,0),
+    nedAttGlobalOffset(0,0,0)
 {
     for (unsigned int i = 0; i<255;++i)
     {
@@ -440,7 +442,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if ((startVoltage > 0.0f) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1f)
                     && (lpVoltage < tickVoltage))
             {
-                GAudioOutput::instance()->say(QString("voltage warning: %1 volt").arg(lpVoltage, 2, 'f', 0, QChar(' ')));
+                GAudioOutput::instance()->say(QString("voltage warning: %1 volt").arg(lpVoltage, 0, 'f', 1, QChar(' ')));
                 lastTickVoltageValue = tickLowpassVoltage;
             }
 
@@ -528,6 +530,18 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
         }
             break;
+        case MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET:
+        {
+            mavlink_local_position_ned_system_global_offset_t offset;
+            mavlink_msg_local_position_ned_system_global_offset_decode(&message, &offset);
+            nedPosGlobalOffset.setX(offset.x);
+            nedPosGlobalOffset.setY(offset.y);
+            nedPosGlobalOffset.setZ(offset.z);
+            nedAttGlobalOffset.setX(offset.roll);
+            nedAttGlobalOffset.setY(offset.pitch);
+            nedAttGlobalOffset.setZ(offset.yaw);
+        }
+            break;
         case MAVLINK_MSG_ID_HIL_CONTROLS:
         {
             mavlink_hil_controls_t hil;

src/uas/UAS.h

@@ -33,8 +33,8 @@ This file is part of the QGROUNDCONTROL project
 #define _UAS_H_
 
 #include "UASInterface.h"
-#include "MG.h"
 #include <MAVLinkProtocol.h>
+#include <QVector3D>
 #include "QGCMAVLink.h"
 #include "QGCFlightGearLink.h"
 
@@ -53,7 +53,8 @@ public:
     UAS(MAVLinkProtocol* protocol, int id = 0);
     ~UAS();
 
-    enum BatteryType {
+    enum BatteryType
+    {
         NICD = 0,
         NIMH = 1,
         LIION = 2,
@@ -80,7 +81,8 @@ public:
     /** @brief Get the unique system id */
     int getUASID() const;
     /** @brief Get the airframe */
-    int getAirframe() const {
+    int getAirframe() const
+    {
         return airframe;
     }
     /** @brief Get the components */
@@ -107,13 +109,16 @@ public:
     {
         return localZ;
     }
-    double getLatitude() const {
+    double getLatitude() const
+    {
         return latitude;
     }
-    double getLongitude() const {
+    double getLongitude() const
+    {
         return longitude;
     }
-    double getAltitude() const {
+    double getAltitude() const
+    {
         return altitude;
     }
     virtual bool localPositionKnown() const
@@ -125,24 +130,39 @@ public:
         return isGlobalPositionKnown;
     }
 
-    double getRoll() const {
+    double getRoll() const
+    {
         return roll;
     }
-    double getPitch() const {
+    double getPitch() const
+    {
         return pitch;
     }
-    double getYaw() const {
+    double getYaw() const
+    {
         return yaw;
     }
     bool getSelected() const;
 
+    QVector3D getNedPosGlobalOffset() const
+    {
+        return nedPosGlobalOffset;
+    }
+
+    QVector3D getNedAttGlobalOffset() const
+    {
+        return nedAttGlobalOffset;
+    }
+
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay getOverlay() {
+    px::GLOverlay getOverlay()
+    {
         QMutexLocker locker(&overlayMutex);
         return overlay;
     }
 
-    px::GLOverlay getOverlay(qreal& receivedTimestamp) {
+    px::GLOverlay getOverlay(qreal& receivedTimestamp)
+    {
         receivedTimestamp = receivedOverlayTimestamp;
         QMutexLocker locker(&overlayMutex);
         return overlay;
@@ -315,6 +335,8 @@ protected: //COMMENTS FOR TEST UNIT
     bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
     bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
     bool systemIsArmed;             ///< If the system is armed
+    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
 
 public:
     /** @brief Set the current battery type */

src/ui/HUD.cc

@@ -279,7 +279,7 @@ void HUD::setActiveUAS(UASInterface* uas)
         // Now connect the new UAS
         // Setup communication
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
-        connect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
+        connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
         connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
         connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
@@ -854,6 +854,8 @@ void HUD::paintHUD()
                 // PITCH
 
                 paintPitchLines(att.y(), &painter);
+                painter.translate(0, -(-att.y()/(float)M_PI)* -180.0f * refToScreenY(1.8f));
+                painter.rotate(-(att.x()/M_PI)* -180.0f);
             }
 
             painter.end();

src/ui/Linechart.ui

@@ -99,8 +99,8 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>232</width>
-           <height>516</height>
+           <width>219</width>
+           <height>475</height>
           </rect>
          </property>
         </widget>
@@ -109,7 +109,7 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="4" rowspan="2">
+   <item row="0" column="4" rowspan="4">
     <widget class="QGroupBox" name="diagramGroupBox">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -134,21 +134,21 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="0">
+   <item row="3" column="0">
     <widget class="QCheckBox" name="shortNameCheckBox">
      <property name="text">
       <string>Short Names</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="2" colspan="2">
+   <item row="3" column="2" colspan="2">
     <widget class="QPushButton" name="recolorButton">
      <property name="text">
       <string>Recolor</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="1">
+   <item row="3" column="1">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -161,6 +161,15 @@
      </property>
     </spacer>
    </item>
+   <item row="2" column="0" colspan="4">
+    <widget class="QComboBox" name="uasSelectionBox">
+     <item>
+      <property name="text">
+       <string>All MAVs</string>
+      </property>
+     </item>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/linechart/LinechartWidget.cc

@@ -146,6 +146,7 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent
 
     updateTimer->setInterval(updateInterval);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
+    connect(ui.uasSelectionBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectActiveSystem(int)));
     readSettings();
 }
 
@@ -159,6 +160,17 @@ LinechartWidget::~LinechartWidget()
     listedCurves = NULL;
 }
 
+void LinechartWidget::selectActiveSystem(int mav)
+{
+    // -1: Unitialized, 0: all
+    if (mav != selectedMAV && (selectedMAV != -1))
+    {
+        // Delete all curves
+        // FIXME
+    }
+    selectedMAV = mav;
+}
+
 void LinechartWidget::selectAllCurves(bool all)
 {
     QMap<QString, QLabel*>::iterator i;

src/ui/linechart/LinechartWidget.h

@@ -105,11 +105,8 @@ public slots:
     /** @brief Stop automatic updates once hidden */
     void hideEvent(QHideEvent* event);
     void setActive(bool active);
-    void setActiveSystem(int systemid)
-    {
-        selectedMAV = systemid;
-    }
-
+    /** @brief Select one MAV for curve display */
+    void selectActiveSystem(int mav);
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);
     /** @brief Start logging to file */

src/ui/linechart/Linecharts.cc

@@ -63,36 +63,40 @@ void Linecharts::hideEvent(QHideEvent* event)
 
 void Linecharts::selectSystem(int systemid)
 {
-    QWidget* prevWidget = currentWidget();
-    if (prevWidget)
-    {
-        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
-        if (chart)
-        {
-            chart->setActive(false);
-            chart->setActiveSystem(systemid);
-        }
-    }
-    QWidget* widget = plots.value(systemid, NULL);
-    if (widget)
-    {
-        setCurrentWidget(widget);
-        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(widget);
-        if (chart)
-        {
-            chart->setActive(true);
-            chart->setActiveSystem(systemid);
-        }
-    }
+//    QWidget* prevWidget = currentWidget();
+//    if (prevWidget)
+//    {
+//        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+//        if (chart)
+//        {
+//            chart->setActive(false);
+//            chart->setActiveSystem(systemid);
+//        }
+//    }
+//    QWidget* widget = plots.value(systemid, NULL);
+//    if (widget)
+//    {
+//        setCurrentWidget(widget);
+//        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(widget);
+//        if (chart)
+//        {
+//            chart->setActive(true);
+//            chart->setActiveSystem(systemid);
+//        }
+//    }
 }
 
 void Linecharts::addSystem(UASInterface* uas)
 {
-    if (!plots.contains(uas->getUASID()))
+    // FIXME Add removeSystem() call
+
+    // Compatibility hack
+    int uasid = 0; /*uas->getUASID()*/
+    if (!plots.contains(uasid))
     {
-        LinechartWidget* widget = new LinechartWidget(uas->getUASID(), this);
+        LinechartWidget* widget = new LinechartWidget(uasid, this);
         addWidget(widget);
-        plots.insert(uas->getUASID(), widget);
+        plots.insert(uasid, widget);
 		
 		// Connect valueChanged signals
 		connect(uas, SIGNAL(valueChanged(int,QString,QString,quint8,quint64)), widget, SLOT(appendData(int,QString,QString,quint8,quint64)));
@@ -107,10 +111,10 @@ void Linecharts::addSystem(UASInterface* uas)
 
         connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
         // Set system active if this is the only system
-        if (active)
-        {
-            if (plots.size() == 1)
-            {
+//        if (active)
+//        {
+//            if (plots.size() == 1)
+//            {
                 // FIXME XXX HACK
                 // Connect generic sources
                 for (int i = 0; i < genericSources.count(); ++i)
@@ -126,10 +130,11 @@ void Linecharts::addSystem(UASInterface* uas)
 					connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,double,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,double,quint64)));
                 }
                 // Select system
-                selectSystem(uas->getUASID());
+                widget->setActive(true);
+                //widget->selectActiveSystem(0);
             }
-        }
-    }
+//        }
+//    }
 }
 
 void Linecharts::addSource(QObject* obj)
@@ -149,4 +154,4 @@ void Linecharts::addSource(QObject* obj)
         connect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,qint64,quint64)));
         connect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,double,quint64)));
     }
-}
+}
\ No newline at end of file

src/ui/map3D/Pixhawk3DWidget.cc

@@ -285,6 +285,14 @@ Pixhawk3DWidget::localPositionChanged(UASInterface* uas,
         return;
     }
 
+    // Add offset
+    UAS* mav = qobject_cast<UAS*>(uas);
+
+    float offX = mav->getNedPosGlobalOffset().x();
+    float offY = mav->getNedPosGlobalOffset().y();
+    float offZ = mav->getNedPosGlobalOffset().z();
+    float offYaw = mav->getNedAttGlobalOffset().z();
+
     // update system position
     m3DWidget->systemGroup(systemId)->position()->setPosition(osg::Vec3d(y, x, -z));
 }

thirdParty/mavlink/include/common/testsuite.h

@@ -3123,6 +3123,61 @@ static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_local_position_ned_system_global_offset_t packet_in = {
+		963497464,
+	45.0,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	};
+	mavlink_local_position_ned_system_global_offset_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.x = packet_in.x;
+        	packet1.y = packet_in.y;
+        	packet1.z = packet_in.z;
+        	packet1.roll = packet_in.roll;
+        	packet1.pitch = packet_in.pitch;
+        	packet1.yaw = packet_in.yaw;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_local_position_ned_system_global_offset_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_local_position_ned_system_global_offset_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_local_position_ned_system_global_offset_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -3336,17 +3391,17 @@ static void mavlink_test_optical_flow(uint8_t system_id, uint8_t component_id, m
 	mavlink_optical_flow_t packet_in = {
 		93372036854775807ULL,
 	73.0,
-	17859,
-	17963,
-	53,
-	120,
+	101.0,
+	129.0,
+	65,
+	132,
 	};
 	mavlink_optical_flow_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         	packet1.time_usec = packet_in.time_usec;
-        	packet1.ground_distance = packet_in.ground_distance;
         	packet1.flow_x = packet_in.flow_x;
         	packet1.flow_y = packet_in.flow_y;
+        	packet1.ground_distance = packet_in.ground_distance;
         	packet1.sensor_id = packet_in.sensor_id;
         	packet1.quality = packet_in.quality;
         
@@ -3942,6 +3997,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_vfr_hud(system_id, component_id, last_msg);
 	mavlink_test_command_long(system_id, component_id, last_msg);
 	mavlink_test_command_ack(system_id, component_id, last_msg);
+	mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg);
 	mavlink_test_hil_state(system_id, component_id, last_msg);
 	mavlink_test_hil_controls(system_id, component_id, last_msg);
 	mavlink_test_hil_rc_inputs_raw(system_id, component_id, last_msg);

thirdParty/mavlink/include/common/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Feb  9 16:35:38 2012"
+#define MAVLINK_BUILD_DATE "Sat Feb 25 17:32:04 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

thirdParty/mavlink/include/mavlink_types.h

@@ -15,21 +15,10 @@
 
 #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
 
-
-#if (defined __GNUC__) || (defined _MSC_VER) || (defined __MINGW32__) || (defined __WATCOMC__) || (defined __CMB__) || (defined __BORLANDC__) || (defined __clang__)
-#define MAVLINK_EXTENDED_MESSAGES_ENABLED
-#endif
-
-// EXTENDED message definition - the extended message set is compatible to standard MAVLink message passing
-// but does NOT have to be supported by the platform. The extended message set will NOT consume
-// any memory if the messages are not explicitely used
-
-#ifdef MAVLINK_EXTENDED_MESSAGES_ENABLED
 #define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
 #define MAVLINK_EXTENDED_HEADER_LEN 14
 #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
 #define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
-#endif
 
 typedef struct param_union {
 	union {
@@ -62,13 +51,12 @@ typedef struct __mavlink_message {
 	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
 } mavlink_message_t;
 
-#ifdef MAVLINK_EXTENDED_MESSAGES_ENABLED
+
 typedef struct __mavlink_extended_message {
        mavlink_message_t base_msg;
        int32_t extended_payload_len;   ///< Length of extended payload if any
        uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
 } mavlink_extended_message_t;
-#endif
 
 
 typedef enum {

thirdParty/mavlink/include/pixhawk/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Feb  9 16:35:38 2012"
+#define MAVLINK_BUILD_DATE "Sat Feb 25 17:32:04 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

thirdParty/mavlink/message_definitions/common.xml

@@ -1367,42 +1367,16 @@
                <field type="uint16_t" name="command">Command ID, as defined by MAV_CMD enum.</field>
                <field type="uint8_t" name="result">See MAV_RESULT enum</field>
           </message>
-          <!--
-          <message id="80" name="MISSION_ITEM">
-          	   <description>One mission element following the MAV_CMD enumeration</description>
-          	   <field type="uint8_t" name="target_system">System ID</field>
-               <field type="uint8_t" name="target_component">Component ID</field>
-               <field type="uint16_t" name="id">ID</field>
-               <field type="uint16_t" name="id">Total count (size of total mission)</field>
-               <field type="uint8_t" name="frame">The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h</field>
-               <field type="uint8_t" name="command">The scheduled action for the MISSION. see MAV_COMMAND in common.xml MAVLink specs</field>
-               <field type="uint8_t" name="current">false:0, true:1</field>
-               <field type="uint8_t" name="autocontinue">autocontinue to next wp</field>
-               <field type="float" name="param1">PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters</field>
-               <field type="float" name="param2">PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds</field>
-               <field type="float" name="param3">PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.</field>
-               <field type="float" name="param4">PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH</field>
-               <field type="float" name="x">PARAM5 / local: x position, global: latitude</field>
-               <field type="float" name="y">PARAM6 / y position: global: longitude</field>
-               <field type="float" name="z">PARAM7 / z position: global: altitude</field>
+          <message id="89" name="LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET">
+               <description>The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
+               <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+               <field type="float" name="x">X Position</field>
+               <field type="float" name="y">Y Position</field>
+               <field type="float" name="z">Z Position</field>
+               <field type="float" name="roll">Roll</field>
+               <field type="float" name="pitch">Pitch</field>
+               <field type="float" name="yaw">Yaw</field>
           </message>
-          <message id="81" name="MISSION_ACK">
-               <description>ACK / NACK for one mission element or a whole mission</description>
-          	   <field type="uint8_t" name="target_system">System ID</field>
-               <field type="uint8_t" name="target_component">Component ID</field>
-               <field type="uint8_t" name="mission_status"></field>
-               <field type="uint16_t" name="begin_item"></field>
-               <field type="uint16_t" name="end_item"></field>
-               <field type="uint8_t" name="packet_seq"></field>
-          </message>
-          <message id="82" name="MISSION_REQUEST">
-               <description>One mission element following the MAV_CMD enumeration</description>
-          	   <field type="uint8_t" name="target_system">System ID</field>
-               <field type="uint8_t" name="target_component">Component ID</field>
-               <field type="uint8_t" name="mission_command">Command id: 0: read whole mission, 1: read mission from begin to end, 2: write mission items from begin to end, 3: clear mission.</field>
-               <field type="uint16_t" name="begin_item"></field>
-               <field type="uint16_t" name="end_item"></field>
-          </message> -->
           <message id="90" name="HIL_STATE">
                <description>Sent from simulation to autopilot. This packet is useful for high throughput
                 applications such as hardware in the loop simulations.