Merge pull request #114 from hamishwillee/master

Update master with develop since v0.3.0

.travis.yml

@@ -0,0 +1,28 @@
+language: ruby
+rvm:
+- 2.2.2
+
+addons:
+  apt:
+    packages:
+    - libcurl4-openssl-dev # required to avoid SSL errors
+
+install:
+- npm install gitbook-cli -g
+- gitbook install
+- gitbook build
+- gem install html-proofer
+
+script: 
+
+- htmlproofer ./_book --empty-alt-ignore true --check-external-hash true --http-status-ignore 503 --url-ignore  'https://img.shields.io/badge/discuss-DroneCore-ff69b4.svg,https://grpc.io/'
+
+env:
+  global:
+  - NOKOGIRI_USE_SYSTEM_LIBRARIES=true   # speeds up installation of html-proofer
+
+
+## Allow links to fail any time and be displayed as warnings.
+matrix:
+  allow_failures:
+    - rvm: 2.2.2

book.json

@@ -1,6 +1,10 @@
 {   
     "gitbook": ">= 3.2.2",
-    "title": "DroneCore Guide",
+    "title": "DroneCore Guide", 
+    "variables": {
+        "logo": "./assets/site/dronecore_logo_full.png",
+        "github_branch": "v0.4.0"
+    },
     "plugins": [
         "youtube",
         "richquotes",

en/README.md

@@ -21,9 +21,9 @@ DroneCore can run on a vehicle-based companion computer or on a ground-based GCS
 DroneCore is still in pre-alpha development. 
 - The core C++ API has been created and is (largely) stable.
 - Currently you can only develop in C++. 
-  - [gRPC](https://grpc.io/) is being investigated as a promising technology for writing the cross-platform wrappers.
+  - [gRPC](https://grpc.io/) is being used to write the cross-platform wrappers.
 
-To use DroneCore you will need to [build the C++ library](contributing/build.md). The [Guide](guide/README.md) explains how to write C++ DroneCore apps. A simple complete example can be found in [Takeoff and Land](examples/takeoff_and_land.md).
+To use DroneCore you will need to [build the C++ library](contributing/build.md). The [Guide](guide/README.md) explains how to write C++ DroneCore apps. A number complete examples can be found [here](examples/README.md).
 
 
 ## Library Features
@@ -38,31 +38,34 @@ The library is:
 
 The main features provided by the simple core API are (in all programing languages):
 
-* Connect to and manage up to 255 vehicles via a UDP network connection (serial and TCP connections are not yet implemented). 
+* Connect to and manage up to 255 vehicles via a TCP, UDP or serial connection.
 * Get information about vehicles (vendor, software versions, product versions etc.)
 * Get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.
 * Send commands to arm, disarm, kill, takeoff, land and return to launch.
 * Create and manage missions.
+* Control a camera and gimbal both inside and outside of missions.
 * Send commands to directly control vehicle movement.
 
 See the [FAQ](getting_started/faq.md) for answers to common questions about the library. 
 
 
 ## API Overview
 
-[DroneCore](/api_reference/classdronecore_1_1_drone_core.md) is the main library class. API consumers use [DroneCore](/api_reference/classdronecore_1_1_drone_core.md) to discover and access vehicles ([Device](/api_reference/classdronecore_1_1_device.md) objects), which in turn provide access to all other drone information and control objects (e.g. [Telemetry](/api_reference/classdronecore_1_1_telemetry.md), [Mission](/api_reference/classdronecore_1_1_mission.md) etc.).
+[DroneCore](/api_reference/classdronecore_1_1_drone_core.md) is the main library class. API consumers use [DroneCore](/api_reference/classdronecore_1_1_drone_core.md) to discover and access vehicles ([System](/api_reference/classdronecore_1_1_system.md) objects), which in turn provide access to all other drone information and control objects (e.g. [Telemetry](/api_reference/classdronecore_1_1_telemetry.md), [Mission](/api_reference/classdronecore_1_1_mission.md) etc.).
 
 The most important classes are:
 
-- [DroneCore](/api_reference/classdronecore_1_1_drone_core.md): Discover and connect to vehicles ([Device](/api_reference/classdronecore_1_1_device.md)).
-- [Device](/api_reference/classdronecore_1_1_device.md): Represents a connected vehicle (e.g. a copter or VTOL drone). It provides access to vehicle information and control through the classes listed below.
-- [Info](/api_reference/classdronecore_1_1_info.md): Basic version information about the hardware and/or software of a device.
+- [DroneCore](/api_reference/classdronecore_1_1_drone_core.md): Discover and connect to vehicles ([System](/api_reference/classdronecore_1_1_system.md)).
+- [System](/api_reference/classdronecore_1_1_system.md): Represents a connected vehicle (e.g. a copter or VTOL drone). It provides access to vehicle information and control through the classes listed below.
+- [Info](/api_reference/classdronecore_1_1_info.md): Basic version information about the hardware and/or software of a system.
 - [Telemetry](/api_reference/classdronecore_1_1_telemetry.md): Get vehicle telemetry and state information ([Battery](/api_reference/structdronecore_1_1_telemetry_1_1_battery.md), [EulerAngle](/api_reference/structdronecore_1_1_telemetry_1_1_euler_angle.md), [GPSInfo](/api_reference/structdronecore_1_1_telemetry_1_1_g_p_s_info.md), [GroundSpeedNED](/api_reference/structdronecore_1_1_telemetry_1_1_ground_speed_n_e_d.md), [Health](/api_reference/structdronecore_1_1_telemetry_1_1_health.md), [Position](/api_reference/structdronecore_1_1_telemetry_1_1_position.md), [Quaternion](/api_reference/structdronecore_1_1_telemetry_1_1_quaternion.md), [RCStatus](/api_reference/structdronecore_1_1_telemetry_1_1_r_c_status.md)) and set telemetry update rates.
 - [Action](/api_reference/classdronecore_1_1_action.md): Simple drone actions including arming, taking off, and landing.
 - [Mission](/api_reference/classdronecore_1_1_mission.md): Waypoint mission creation and upload/download. Missions are created from [MissionItem](/api_reference/classdronecore_1_1_mission_item.md) objects.
 - [Offboard](/api_reference/classdronecore_1_1_offboard.md): Control a drone with velocity commands.
+- [Gimbal](/api_reference/classdronecore_1_1_gimbal.md): Control a gimbal.
+- [Camera](/api_reference/classdronecore_1_1_camera.md): Control a camera.
+- [FollowMe](/api_reference/classdronecore_1_1_follow_me.md): Drone tracks a position supplied by DroneCore.
 - [Logging](/api_reference/classdronecore_1_1_logging.md): Data logging and streaming from the vehicle.
-- [include/device_plugin_container.h.in](https://github.com/dronecore/DroneCore/blob/master/include/device_plugin_container.h.in): Auto-generated file that is required for DroneCore plugin development - see [DevicePluginContainer](/api_reference/classdronecore_1_1_device_plugin_container.md).
 
 
 ## Getting Started
@@ -76,8 +79,8 @@ Developers who want to contribute to the API will need to build the C++ library
 
 This guide contains information and examples showing how to use DroneCore. If you have specific questions that are not answered by the documentation, these can be raised on:
 
-* [Slack DroneCore Channel](https://px4.slack.com/messages/C68J8H32A) (get a [Slack login here](http://slack.px4.io))
 * [Discuss board](http://discuss.px4.io/c/dronecore)
+* [Slack DroneCore Channel](https://px4.slack.com/messages/C68J8H32A) (get a [Slack login here](http://slack.px4.io))
 
 Use Github for bug reports/enhancement requests:
 
@@ -89,10 +92,10 @@ Use Github for bug reports/enhancement requests:
 
 DroneCore welcomes contributions! If you want to help or have suggestions/bug reports [please get in touch with the development team](#getting-help). 
 
-The [Contributing](contributing/README.md) section contains everything you need to contribute, including topics about building Dronecore from source code, running our integration and unit tests, and all other aspects of core development. 
+The [Contributing](contributing/README.md) section contains everything you need to contribute, including topics about building DroneCore from source code, running our integration and unit tests, and all other aspects of core development. 
 
 
 ## License
 
-* DroneCore is licensed under the permissive [BSD 3-clause](https://github.com/dronecore/DroneCore/blob/master/LICENSE.md).
+* DroneCore is licensed under the permissive [BSD 3-clause](https://github.com/dronecore/DroneCore/blob/{{ book.github_branch }}/LICENSE.md).
 * This *DroneCore Developer Documentation* is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) license.

en/SUMMARY.md

@@ -5,20 +5,30 @@
 * [Quick Start](getting_started/README.md)
 * [Guide](guide/README.md)
   * [Usage/Paradigms](guide/general_usage.md)
-  * [Connecting to Devices](guide/connections.md)
-  * [Vehicle Information](guide/device_version.md)
+  * [Connecting to Systems (Vehicles)](guide/connections.md)
+  * [Managing Systems](guide/using_plugins.md)
+  * [System Information](guide/system_information.md)
   * [Telemetry](guide/telemetry.md)
-  * [Taking Off and Landing](guide/taking_off_landing.md)
+  * [Actions - Take Off, Arm, ...](guide/taking_off_landing.md)
   * [Missions](guide/missions.md)
+  * [Offboard Control](guide/offboard.md)
+  * [Follow Me](guide/follow_me.md)
+  * [VTOL Support](guide/vtol.md)
   * [Building C++ Apps](guide/toolchain.md)
+  * [DroneCore Extensions](guide/dronecore_extensions.md)
 * [Examples](examples/README.md)
   * [Takeoff and Land](examples/takeoff_and_land.md)
   * [Fly Mission](examples/fly_mission.md)
+  * [Fly QGC Plan Mission](examples/fly_mission_qgc_plan.md)
+  * [Offboard Mode - Velocity Control](examples/offboard_velocity.md)
+  * [Follow Me Mode](examples/follow_me.md)
+  * [VTOL Transitions](examples/transition_vtol_fixed_wing.md)
 * [API Reference](api_reference/README.md)
   * [class DroneCore](api_reference/classdronecore_1_1_drone_core.md)
-  * [class Device](api_reference/classdronecore_1_1_device.md)
+  * [class System](api_reference/classdronecore_1_1_system.md)
   * [class Info](api_reference/classdronecore_1_1_info.md)
     * [struct Version](api_reference/structdronecore_1_1_info_1_1_version.md)
+    * [struct Product](api_reference/structdronecore_1_1_info_1_1_product.md)
   * [class Telemetry](api_reference/classdronecore_1_1_telemetry.md)
     * [struct Battery](api_reference/structdronecore_1_1_telemetry_1_1_battery.md)
     * [struct EulerAngle](api_reference/structdronecore_1_1_telemetry_1_1_euler_angle.md)
@@ -34,11 +44,24 @@
   * [class Offboard](api_reference/classdronecore_1_1_offboard.md)
     * [struct VelocityBodyYawspeed](api_reference/structdronecore_1_1_offboard_1_1_velocity_body_yawspeed.md)
     * [struct VelocityNEDYaw](api_reference/structdronecore_1_1_offboard_1_1_velocity_n_e_d_yaw.md)
+  * [class Gimbal](api_reference/classdronecore_1_1_gimbal.md)
+  * [class Camera](api_reference/classdronecore_1_1_camera.md)
+    * [struct CaptureInfo](api_reference/structdronecore_1_1_camera_1_1_capture_info.md)
+      * [struct Position](api_reference/structdronecore_1_1_camera_1_1_capture_info_1_1_position.md)
+      * [struct Quaternion](api_reference/structdronecore_1_1_camera_1_1_capture_info_1_1_quaternion.md)
+    * [struct Status](api_reference/structdronecore_1_1_camera_1_1_status.md)
+    * [struct VideoStreamInfo](api_reference/structdronecore_1_1_camera_1_1_video_stream_info.md)
+    * [struct VideoStreamSettings](api_reference/structdronecore_1_1_camera_1_1_video_stream_settings.md)
+  * [class FollowMe](api_reference/classdronecore_1_1_follow_me.md)
+    * [struct Config](api_reference/structdronecore_1_1_follow_me_1_1_config.md)
+    * [struct TargetLocation ](api_reference/structdronecore_1_1_follow_me_1_1_target_location.md)
   * [class Logging](api_reference/classdronecore_1_1_logging.md)
-  * [class DevicePluginContainer](api_reference/classdronecore_1_1_device_plugin_container.md)
+  * [namespace dronecore (globals)](api_reference/namespacedronecore.md)
+
 * [Contributing](contributing/README.md)
   * [Building Source](contributing/build.md)
-  * [Tests](contributing/test.md)
+  * [Testing](contributing/test.md)
+  * [Writing Plugins](contributing/plugins.md)
   * [Coding Style](contributing/code_style.md)
   * [Plugin/Test Logging](contributing/dev_logging.md)
   * [Documentation](contributing/documentation.md)

en/api_reference/README.md

@@ -1,9 +1,10 @@
 # API Reference
 
 * [class DroneCore](classdronecore_1_1_drone_core.md)
-* [class Device](classdronecore_1_1_device.md)
+* [class System](classdronecore_1_1_system.md)
 * [class Info](classdronecore_1_1_info.md)
   * [struct Version](structdronecore_1_1_info_1_1_version.md)
+  * [struct Product](structdronecore_1_1_info_1_1_product.md)
 * [class Telemetry](classdronecore_1_1_telemetry.md)
   * [struct Battery](structdronecore_1_1_telemetry_1_1_battery.md)
   * [struct EulerAngle](structdronecore_1_1_telemetry_1_1_euler_angle.md)
@@ -19,5 +20,16 @@
 * [class Offboard](classdronecore_1_1_offboard.md)
   * [struct VelocityBodyYawspeed](structdronecore_1_1_offboard_1_1_velocity_body_yawspeed.md)
   * [struct VelocityNEDYaw](structdronecore_1_1_offboard_1_1_velocity_n_e_d_yaw.md)
+* [class Gimbal](classdronecore_1_1_gimbal.md)
+* [class Camera](classdronecore_1_1_camera.md)
+  * [struct CaptureInfo](structdronecore_1_1_camera_1_1_capture_info.md)
+    * [struct Position](structdronecore_1_1_camera_1_1_capture_info_1_1_position.md)
+    * [struct Quaternion](structdronecore_1_1_camera_1_1_capture_info_1_1_quaternion.md)
+  * [struct Status](structdronecore_1_1_camera_1_1_status.md)
+  * [struct VideoStreamInfo](structdronecore_1_1_camera_1_1_video_stream_info.md)
+  * [struct VideoStreamSettings](structdronecore_1_1_camera_1_1_video_stream_settings.md)
+* [class FollowMe](classdronecore_1_1_follow_me.md)
+  * [struct Config](structdronecore_1_1_follow_me_1_1_config.md)
+  * [struct TargetLocation ](structdronecore_1_1_follow_me_1_1_target_location.md)
 * [class Logging](classdronecore_1_1_logging.md)
-* [class DevicePluginContainer](classdronecore_1_1_device_plugin_container.md)
+* [namespace dronecore (globals)](namespacedronecore.md)