Re: [Paparazzi-devel] inflight route modification and acknowledge

[Henri Pierre]

Hi, 

in fact, you move a waypoint by sending a WAYPOINT_MOVE message in which you
specify coordinates as lat long. I found usefull to get confirmation in the same system in order
to avoid approximation errors.

Julien

2012/5/30 Gautier Hattenberger <address@hidden>

Hi,

The message WP_MOVED_LLA is not implemented for fixedwing, nor for rotorcraft actually. This message was here in case we wanted to get rid of utm coordinates. It is not really planned to do this soon. Why do you need it ? Isn't the regular WP_MOVED enough ?

Gautier

On 30/05/2012 13:48, Henri Pierre wrote:

Hi Gautier

Thanks for your answers.

I tried to add the WP_MOVED_LLA to the telemetry file but this raises an exception while compiling :

firmwares/fixedwing/main_ap.c: In function ‘reporting_task’:
firmwares/fixedwing/main_ap.c:205:5: attention : implicit declaration of function ‘PERIODIC_SEND_WP_MOVED_LLA’ [-Wimplicit-function-declaration]
firmwares/fixedwing/main_ap.c:205:1: erreur: ‘IvyTransport’ undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:205:1: note: each undeclared identifier is reported only once for each function it appears in
make[1]: *** [/home/Henri/paparazzi/var/Easy_Glider/sim/firmwares/fixedwing/main_ap.o] Erreur 1
make[1]: quittant le répertoire « /home/Henri/paparazzi/sw/airborne »
make: *** [sim] Erreur 2
make: quittant le répertoire « /home/Henri/paparazzi »

Why am I not able to add this message to telemetry ?

Thanks
Henri

2012/5/30 Gautier Hattenberger <address@hidden>

Hi,

The maximum number of blocks is also limited to 255 since the block id is coded with 1 byte.

When a MOVE_WAYPOINT or JUMP_TO_BLOCK message is received, the aircraft is sending back a WP_MOVED or NAVIGATION message to acknowledge the changes. These two messages are also send periodically based on your telemetry file.

Gautier

On 30/05/2012 12:16, Henri Pierre wrote:

Hello

I was wondering if there was an aknowledge mechanism to MOVE_WAYPOINT and JUMP_TO_BLOCK message.
In other words, how to know that the command have been received and correctly interpreted ?

Thanks
Henri

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