Re: [Paparazzi-devel] Flight plan with many waypoints

[Gautier Hattenberger]

Sorry I didn't get what you wanted to do.
It is not explicitly possible to force flying over a waypoint in the 
direction of the next segment. You will have to place your waypoints 
with care so it is possible to what you want (small angles between 
segments, use a circle to align the AC trajectory before the next 
segment,...). You can look at the nav line code to get some idea.

Gautier

On 25/02/2011 11:14, Reto Büttner wrote:
> Hi Gautier,
>
> thanks for the information. I have read the wiki. The maximum number
> of waypoints is an interesting additional information.
>
> The behaviour "precisely overfly the next waypoint in the direction of
> the NEXT segment" is still not quite clear to me.
>
> Cheers, Reto
>
> 2011/2/25 Gautier Hattenberger<address@hidden>:
> > Hi,
> >
> > As describe in the wiki http://paparazzi.enac.fr/wiki/Flight_Plans#Go, the
> > attribute approaching_time can be set to control the behavior of waypoint
> > crossing. 0 means that you ask to fly above the waypoint, any other positive
> > value tells that you want to go to next stage when reaching x second of
> > flight before the waypoint. The default value is CARROT time define in your
> > airframe file. The maximum number of waypoints is 254+1 (0 is a dummy WP,
> > HOME is mandatory).
> >
> > Gautier
> >
> > On 25/02/2011 08:49, Reto Büttner wrote:
> > > Hi guys,
> > >
> > > when flying flight plans with more than ten waypoints I find the
> > > following behaviour:
> > >
> > > - When reaching nine out of ten waypoints, the aircraft intersects the
> > > next segment and joins it smoothly (hmode="route"). Thereby the
> > > waypoints are not precisely overflown, but little shortcuts are taken
> > > according to the setting of "approaching_time".
> > >
> > > - Always at the tenth waypoint, the aircraft does not intersect the
> > > next segment, but flys an approach to precisely overfly the next
> > > waypoint in the direction of the next segment. Thus no shortcut is
> > > taken, rather a small detour.
> > >
> > > Can this behaviour be configured?
> > >
> > > Cheers, Reto
> > >
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