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

[Reto Büttner]

Hi Gautier,

my bad, I found the bug. It was in my own flight plan. I missed a line
while copy-pasting. Now everything works fine.

This bug learned me what to do if I need to precisely overfly the next
waypoint in the direction of the next segment. Just skip one segment
in the flight plan:

      <go from="H01" hmode="route" wp="H02"/>
      <go from="H03" hmode="route" wp="H04"/>

instead of

      <go from="H01" hmode="route" wp="H02"/>
      <go from="H02" hmode="route" wp="H03"/>
      <go from="H03" hmode="route" wp="H04"/>

will precisely overfly H03 in the direction of H04.

Cheers, Reto

2011/2/25 Gautier Hattenberger <address@hidden>:
> 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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