I'm not at the lab at the moment, but as far as I know the master branch
should be working. You may also want to look at the experimental branch
which is getting closer to release. Also, I should have debian packages
out by Friday.

One thing to watch out for with the XBee interface is that the maximum
polling frequency is lower. 

On Tue, 2011-02-15 at 13:08 +0100, Steven Bellens wrote: 
> Hi,
> 
> Been a while since I used the asctec_autopilot node for communication
> with the Pelican. I build the master branch and tried to launch it,
> but somehow communication is not setup properly - it gives me some
> error about 'insufficient data' when I try to read from the Pelican. I
> switched back to the code I was working on last year (somewhere mid
> august) which works fine (/origin/sbellens).
> Checking the diff I see a lot of the low-level communication commands
> have been rewritten and header fields are added to the ROS messages.
> Can someone confirm whether the current code works with the Pelican
> helicopter? Do I have to add something in my client code to get
> up-to-date? I'm still using the XBee communication interface.
> 
> regards,
> 
> Steven
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