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Re: [Paparazzi-devel] AGL and NavSetGroundReferenceHere()

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] AGL and NavSetGroundReferenceHere()
Date: Sun, 09 Aug 2009 17:07:54 +0200
User-agent: Thunderbird (X11/20090608)


what do you call AGL ?
- in the airborne code, NavSetGroundReferenceHere() sets ground_alt to the current altitude (common_nav.c:84). This variable is for example use in HOME mode (nav.c:370) or in the Takeoff and Final block of the basic.xml flight plan. - in the GCS, AGL is computed by subtracting the terrain altitude (from the SRTM model ... if the file is available in data/SRTM) from the current altitude


Martin P wrote:
I use a flight plan with goround_alt=0 (derived from basic.xml).
After calling NavSetGroundReferenceHere(), I would expect that the AGL is 0. Instead, it is the altitude above sea level. The GPS mode is 3D and the AGL varies within 3 or 4 meters. Is this the way it should be? Should I set the ground_alt to the actual altitude?

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