Update instructions for new developments and new pymavlink repo

dronekit · Oct 18, 2016 · 7d60fd0 · 7d60fd0
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diff --git a/examples/avoidance/README.md b/examples/avoidance/README.md
@@ -10,23 +10,25 @@ Please note that these instructions will significantly change your environment.
   ```
   DRONEKIT_TOP=$HOME # e.g.
   cd $DRONEKIT_TOP/dronekit-python
-  got remote add peterbarker ssh://git@github.com/peterbarker/dronekit-python.git
+  git remote add peterbarker ssh://git@github.com/peterbarker/dronekit-python.git
   git fetch peterbarker
   git checkout peterbarker/source-system-filtering
   ```
 
-2. Run version of mavlink which contains source system filtering:
+2. Run a version of pymavlink which contains source system filtering:
 
   ```
   ARDUPILOT_HOME=$HOME/ardupilot # e.g.
-  cd $ARDUPILOT_HOME/modules/mavlink
-  git remote add peterbarker https://github.com/peterbarker/mavlink
-  git fetch --all peterbarker
-  git checkout peterbarker/mavsystem-object
   cd $ARDUPILOT_HOME/modules/mavlink/pymavlink
+  git remote add peterbarker https://github.com/peterbarker/pymavlink
+  git fetch --all peterbarker
+  git checkout peterbarker/mavsource
   python setup.py build install --user --force
   ```
-
+
+  Note that in the above shell code we are re-using a pymavlink
+  repository present in a buildable ArduPilot repository.  You can
+  instead clone the pymavlink tree directly.
 
 3. Run peterbarker's avoidance MAVProxy branch
 
@@ -39,18 +41,7 @@ Please note that these instructions will significantly change your environment.
   python seutp.setup.py build install --user --force
   ```
 
-4. Run the _multivehicle-wip_ branch of dronekit-sitl
-
-  This branch allows the user to specify a --defaults option to the SITL instance, allowing modern ArduPilots to run.  It also adds diagnostic options.
-
-  ```
-  DRONEKIT_TOP=$HOME # e.g.
-  git clone https://github.com/dronekit/dronekit-sitl
-  cd $DRONEKIT_TOP/dronekit-sitl
-  git checkout multivehicle-wip
-  ```
-
-5. Connect a GCS to port 3456
+4. Connect a GCS to port 3456
 
   This varies by GCS.  With *MAVProxy* you might run this:
   ```
@@ -67,7 +58,7 @@ Please note that these instructions will significantly change your environment.
      - Listening port 3456
     ```
 
-6. Run the avoidance sample program:
+5. Run the avoidance sample program:
   ```
   DRONEKIT_TOP=$HOME # e.g.
   ARDUPILOT_HOME=$HOME/ardupilot
@@ -76,7 +67,7 @@ Please note that these instructions will significantly change your environment.
   python avoidance.py --binary $ARDUPILOT_HOME/build/sitl-debug/bin/arducopter-quad --resolution=PERPENDICULAR --defaults=$ARDUPILOT_HOME/Tools/autotest/copter_params.parm --extra-connection=udpout:localhost:3456
 
   ```
-7. What you should see:
+6. What you should see:
  - two quadcopters should both enter guided mode
  - both should rise to 5m
  - one of the copters will start to head north

diff --git a/examples/multivehicle/README.md b/examples/multivehicle/README.md
@@ -1,5 +1,7 @@
 These are some (hopefully short-lived) intructions on how to get multiple vehicles running in dronekit-python.  These instructions assume you are running under Linux, but with minimal modification should run on other operating systems.
 
+Please note that these instructions will significantly change your environment.  Unless you are quite familiar with how your build environment is put together you may wish to do this in a separate stand-alone environment.
+
 1. Run peterbarker's _source-system-filtering branch_ of dronekit-python
 
   Given that this README file exists within that branch, this should not be too much of a problem.
@@ -13,47 +15,32 @@ These are some (hopefully short-lived) intructions on how to get multiple vehicl
   git checkout peterbarker/source-system-filtering
   ```
 
-2. Run the _mavsystem-object_ branch of mavlink
+2. Run the _mavsource_ branch of pymavlink
 
   This branch introduces an object into pymavlink which filters messages to go to and come from a single system (e.g. your drone).  Without this object, the abstractions in pymavlink do not allow manipulation of multiple vehicles suitable for dronekit-python.
 
-  To run this branch, one would typically "git clone" it, then install it locally with:
-
   ```
-  DRONEKIT_TOP=$HOME # e.g.
-  cd $DRONEKIT_TOP/mavlink
-  git remote add peterbarker ssh://git@github.com/peterbarker/dronekit-python.git
-  git fetch peterbarker
-  git checkout mavsystem-object
-  cd pymavlink
+  ARDUPILOT_HOME=$HOME/ardupilot # e.g.
+  cd $ARDUPILOT_HOME/modules/mavlink/pymavlink
+  git remote add peterbarker https://github.com/peterbarker/pymavlink
+  git fetch --all peterbarker
+  git checkout peterbarker/mavsource
   python setup.py build install --user --force
   ```
 
-  You want to be comfortable doing this; if this is not how you typically use pymavlink then you may have trouble reverting to your normal configuration.
+  Note that in the above shell code we are re-using a pymavlink
+  repository present in a buildable ArduPilot repository.  You can
+  instead clone the pymavlink tree directly.
 
-3. Run the _peterbarker-multivehicle-wip_ branch of dronekit-sitl
-
-  This branch contains various changes:
-   - use an ArduPilot you compile yourself rather than a pre-canned one
-   - attach GDB to the ArduPilot instances
-   - more easily support more than one ArduPilot instance
-   - emit output from the ArduPilot instance
-
-  ```
-  DRONEKIT_TOP=$HOME # e.g.
-  cd $DRONEKIT_TOP/dronekit-sitl
-  git checkout peterbarker-multivehicle-wip
-  ```
-
-4. Run the multivehicle sample program:
+5. Run the multivehicle sample program:
   ```
   DRONEKIT_TOP=$HOME # e.g.
   export PYTHONPATH=$DRONEKIT_TOP/dronekit-python:$DRONEKIT_TOP/dronekit-sitl
   cd $DRONEKIT_TOP/dronekit-python/examples/multivehicle
   python multivehicle.py  --simulation-count 3 --extra-connection udpout:localhost:9432
   ```
 
-5. Connect a GCS to port 9432
+6. Connect a GCS to port 9432
 
   This varies by GCS.  With *MAVProxy* you might run this:
   ```