Fix bug in the example calling wrong goto command in each section

Author: hamishwillee

docs/examples/guided-set-speed-yaw-demo.rst

@@ -158,7 +158,7 @@ The functions for controlling vehicle movement are:
 * :ref:`goto_position_target_global_int() <example_guided_mode_goto_position_target_global_int>` is a position controller that uses the `SET_POSITION_TARGET_GLOBAL_INT <https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT>`_ command.
 * :ref:`goto_position_target_local_ned() <example_guided_mode_goto_position_target_local_ned>` is a position controller that uses `SET_POSITION_TARGET_LOCAL_NED <https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_LOCAL_NED>`_ command (taking values in NED frame, relative to the home position). This is used to fly a square path. The script is put to sleep for a certain time in order to allow the vehicle to reach the specified position.
 * :ref:`send_ned_velocity() <guided_mode_copter_velocity_control>` is a velocity controller. It uses `SET_POSITION_TARGET_LOCAL_NED <https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_LOCAL_NED>`_ to fly a square path using velocity vectors to define the speed in each direction. 
-* :ref:`send_global_velocity() <example_guided_mode_send_global_velocity>` is a velocity controller. It uses `SET_POSITION_TARGET_GLOBAL_INT <https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT>`_ to fly a diamond-shaped path. The behaviour is essentially the same as for ``send_ned_velocity()``.
+* :ref:`send_global_velocity() <example_guided_mode_send_global_velocity>` is a velocity controller. It uses `SET_POSITION_TARGET_GLOBAL_INT <https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT>`_ to fly a diamond-shaped path. The behaviour is essentially the same as for ``send_ned_velocity()`` because the velocity components in both commands are in the NED frame.
 * :ref:`goto <example_guided_mode_goto_convenience>` is a convenience function for specifying a target location in metres from the current location and reporting the result. 
 
 

examples/guided_set_speed_yaw/guided_set_speed_yaw.py

@@ -430,7 +430,7 @@ def send_global_velocity(velocity_x, velocity_y, velocity_z):
 goto(0, 100)
 
 print("Position North -80 West 50")
-goto(-80, -50, goto_position_target_global_int)
+goto(-80, -50)
 
 
 
@@ -452,15 +452,15 @@ def send_global_velocity(velocity_x, velocity_y, velocity_z):
 
 print("Set speed to 5m/s.")
 set_speed(5)
-goto(-100, -130)
+goto(-100, -130, goto_position_target_global_int)
 
 print("Set speed to 15m/s (max).")
 set_speed(15)
 print("Position South 0 East 200")
-goto(0, 260)
+goto(0, 260, goto_position_target_global_int)
 
 print("Set speed to 10m/s (max).")
-set_speed(10)
+set_speed(10, goto_position_target_global_int)
 
 print("Position North 100 West 130")
 goto(100, -130, goto_position_target_global_int)