Re: [Paparazzi-devel] Using Waypoints in GPS/absolute coordinates (Master branch)

[Felix Ruess]

Hi Loic,

absolute coordinates are currently not really handled in a nice way, improvements welcome.

What you can do is to add <define name="USE_INS_NAV_INIT" value=TRUE"/>

This will initialize the ground reference (origin of the LTP) with the flight plan coordinates, instead of leaving it uninitialized (to be set from the GPS fix with NavSetGroundReferenceHere).

You still need to remove NavSetGroundReferenceHere from your geo init though, as that would just reset it to the current position.

If you still want your home waypoint to be automatically set to where you start, in geo init: <call fun="NavSetWaypointHere(WP_HOME)"/>

Hope that helps...

Cheers, Felix

On Mon, May 6, 2013 at 10:02 AM, Loic Drumettaz <address@hidden> wrote:

Hi,

In the flight plan it's possible to define the waypoints in GPS coordinates. The generated .h flight plan then contains both relative and absolute coordinates.

Is there any way to tell the rotorcraft to use the absolute coordinates during navigation (WAYPOINTS_LLA in flight_plan.h) ?

The other option is to ensure that relative coordinates waypoints are in the same place as absolute coordinates waypoints. So I tried to remove the "NavSetGroundReferenceHere" in the flight plan, so the "HOME" waypoint is not set at the take-off location, without success.

Any tips or recommendations?

Regards

Loïc

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