Some details about moving waypoints (and changing blocks): you don't
directly send the message to the plane, you go through the server.
-MOVE_WAYPOINT is received by server
-server send MOVE_WP to the plane
-the plane send back WP_MOVED (or WP_MOVED_ENU) to the server
-the server send WAYPOINT_MOVED to the agents needing it (like the
GCS)
WAYPOINT_MOVED and MOVE_WAYPOINT are using wgs84 LLA representation,
so you should use only these message. The actual messages used to
talk to the aircraft are thus hidden, as you don't really care about
the format they use internally.
Changing block works the same way.
in fact, you move a waypoint by sending a WAYPOINT_MOVE message in
which you
specify coordinates as lat long. I found usefull to get
confirmation in the same system in order
to avoid approximation errors.
The message WP_MOVED_LLA is not implemented for fixedwing,
nor for rotorcraft actually. This message was here in case
we wanted to get rid of utm coordinates. It is not really
planned to do this soon. Why do you need it ? Isn't the
regular WP_MOVED enough ?
Gautier
On 30/05/2012 13:48, Henri Pierre wrote:
Hi Gautier
Thanks for your answers.
I tried to add the WP_MOVED_LLA to the telemetry file
but this raises an exception while compiling :
firmwares/fixedwing/main_ap.c: In function
‘reporting_task’:
firmwares/fixedwing/main_ap.c:205:5: attention :
implicit declaration of function
‘PERIODIC_SEND_WP_MOVED_LLA’
[-Wimplicit-function-declaration]
firmwares/fixedwing/main_ap.c:205:1: erreur:
‘IvyTransport’ undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:205:1: note: each
undeclared identifier is reported only once for each
function it appears in
make[1]: ***
[/home/Henri/paparazzi/var/Easy_Glider/sim/firmwares/fixedwing/main_ap.o]
Erreur 1
make[1]: quittant le répertoire «
/home/Henri/paparazzi/sw/airborne »
make: *** [sim] Erreur 2
make: quittant le répertoire « /home/Henri/paparazzi »
Why am I not able to add this message to telemetry ?
The maximum number of blocks is also limited to
255 since the block id is coded with 1 byte.
When a MOVE_WAYPOINT or JUMP_TO_BLOCK message is
received, the aircraft is sending back a
WP_MOVED or NAVIGATION message to acknowledge
the changes. These two messages are also send
periodically based on your telemetry file.
Gautier
On 30/05/2012 12:16, Henri Pierre wrote:
Hello
I was wondering if there was an aknowledge
mechanism to MOVE_WAYPOINT and
JUMP_TO_BLOCK message.
In other words, how to know that the
command have been received and correctly
interpreted ?