Drone: Begin code organisation for GPS support

Drone/config/spec/configspec_client.ini

@@ -49,7 +49,6 @@ land_timeout = float(default=10.0, min=0)
 common_offset = float_list(default=list(0, 0, 0), min=3, max=3)
 
 [FLOOR FRAME]
-enabled = boolean(default=False)
 parent = string(default=map)
 # Frame translation (x, y, z)
 # __list__ x y z
@@ -58,6 +57,11 @@ translation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
 # __list__ roll pitch yaw
 rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
 
+[GPS FRAME]
+lat = float(default=0)
+lon = float(default=0)
+yaw = float(default=0)
+
 [ANIMATION]
 takeoff_detection = boolean(default=True)
 land_detection = boolean(default=True)

Drone/copter_client.py

@@ -99,10 +99,9 @@ class CopterClient(client.Client):
             LedLib.init_led(self.config.led_pin)
         task_manager_instance.start()  # TODO move to self
         if self.config.copter_frame_id == "floor":
-            if self.config.floor_frame_enabled:
-                self.start_floor_frame_broadcast()
-            else:
-                rospy.logerr("Can't make floor frame!")
+            self.start_floor_frame_broadcast()
+        elif self.config.copter_frame_id == "gps":
+            self.start_gps_frame_broadcast()
         start_subscriber()
 
         telemetry.start_loop()
@@ -120,6 +119,8 @@ class CopterClient(client.Client):
         trans.child_frame_id = self.config.copter_frame_id
         static_bloadcaster.sendTransform(trans)
 
+    def start_gps_frame_broadcast(self):
+        return
 
 def restart_service(name):
     os.system("systemctl restart {}".format(name))