- The difference beetween altitude in hmsl and altitude in a local frame should be more or less
constant. Right ?
Depends what you mean by more or less... first off the local reference frame is only valid once it has been initalized. The local reference frame can also be reset e.g. via flighplan Geo init block or by calling NavSetGroundReference directly.
Also keep in mind that the local coordinate system is a flat (LocalTangentPlane) system: so the further you go away the bigger your altitude difference will be (the earth and hence hmsl is not flat ;-)
- WAYPOINT_MOVED message seems to be the corresponding "echo" of the MOVE_WAYPOINT message. x, y are
longitude and latitude (as in MOVE_WAYPOINT) but altitude seems not to be in hmsl but in local frame ? RIght ?
As I posted previously the WAYPOINT_MOVED and MOVE_WAYPOINT have geodetic coordinates (lat/long/hmsl).
There are no x,y fields, but lat/long... see conf/messages.xml
- Is there a way to know which coordinate system is used on each message param ?
Should be mostly obvious from the field names of the message definitions as said above:
WAYPOINT_MOVED, MOVE_WAYPOINT: gedetic
WP_MOVED_ENU: local tangent plane in EastNorthUp
WP_MOVED: UTM coordinates
Cheers, Felix
2012/6/13 Felix Ruess
<address@hidden>
Hi Henri,
it's not the unit, but the coordinate system that is different.
Also there are always different possible altitude definitions.
See http://paparazzi.enac.fr/wiki/Altitude_definitions
MOVE_WAYPOINT has the position in (geodetic) lat/lon and altitude in hmsl (height above geoid).
WP_MOVED_ENU has the position in a local EastNorthUp frame.
This local tangent plane coordinate system is usually initialized to have it's origin at the vehicle position at startup.
The INS_REF message contains the origin of this reference frame.
Cheers, Felix
Hello
I face the following issue on the altitude unit :
I send a
Gcs MOVE_WAYPOINT 2 3 37.6148529053 -122.356140137 50 (as describe in message.xml, the altitude is 50 meters)
Server send to uav
SIM_NPS sent '2 WP_MOVED_ENU 3 17338 37381 1259 ( altitude is 1259 * 0.0039063 = 4.918)
which is 10 times less than what I sent.
Is there a bug or did i do something wrong ?
Regards
Henri
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