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Re: [Paparazzi-devel] Software Wish List - Waypoints relative to previou

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Software Wish List - Waypoints relative to previous waypoint, and rotated flight patterns
Date: Mon, 17 Dec 2012 10:47:48 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:10.0.10) Gecko/20121027 Icedove/10.0.10


Santa Claus already did this long time ago, but is not a so kind person and he forgot the documentation.

First, it is possible to build "procedures" that can be called from the flight plan with some parameters

For some flight patterns (go, circle), it is possible to define a relative position using wp_qdr and wp_dist. For example <go wp="HOME" wp_qdr="90" wp_dist="100" radius="80"/> will create a new relative waypoint 100 meters at the east (90 deg heading) of HOME.

If you make a combination of the two, you can have something like the clover.xml procedure (forget the outdated exception, and some variables need to renamed). In this procedure that makes flower in the sky, the size of the pattern can be set by the "rad" parameter from the flight plan. You can do the same kind of things for orientation.

Obviously, this is not really easy to use, but one of the reason for not using all of this was that it was not that useful in the end.


Le 17/12/2012 00:22, Jorn Anke a écrit :
Hi all,

It is close to X-mas, so maybe time for a few wishes for more possibilities with regard to flight plans;

1. The possibility to define waypoints relative to previous waypoints, e.g;
- WP0: (start position)

- WP1: go 100m east (from previous WP)
- WP2: go 100m south (from previous WP)
- WP3: go 100m west (from previous WP)
- WP3: go 80m north (from previous WP)

This possibility would make it easy to write custom repeatative flight-patterns (e.g. like survey-patterns), by looping over a set of relative waypoints, in many cases removing the need for writing C-procedures.

2. The possibility to rotate a flight-pattern (block) by giving a rotation angle.

E.g. for surveying purposes, there is always the problem with rotating the flight-lines against the wind direction, usually very close to the last minute before flight.



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