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Re: [Paparazzi-devel] Using Waypoints in GPS/absolute coordinates (Maste

From: Chris
Subject: Re: [Paparazzi-devel] Using Waypoints in GPS/absolute coordinates (Master, branch)
Date: Sun, 09 Jun 2013 17:58:25 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130510 Thunderbird/17.0.6

Damn i did it again, i forgot to change the subjuct which should be "Using Waypoints in GPS/absolute coordinates (Master, branch)" and not "Paparazzi-devel Digest, Vol 111, Issue 18 " SORRY...

On 06/09/2013 05:54 PM, Chris wrote:
Absolutely thank you once more Felix

On 06/09/2013 02:55 PM, address@hidden wrote:
Roughly speaking, yes.

First relative waypoints are defined wrt. the location/altitude specified in your flight plan. (For rotorcrafts this is also the origin of your local
NED coordinate frame).
But if you use the common GeoInit block in your flight plan (which calls
NavResetGroundReferenceHere) your current location will be your new
Your waypoints will now be relative to this location (and ground_alt).

So if you have a <waypoint name="foo" x="-30.0" y="50" height="50."/> it
will be relative to your location and ground_alt you set in the flight plan.
If you now start at a different spot than your flight plan location (and
use GeoInit) all your waypoints will be moved relative to your new location
including your new ground_alt.
Meaning the foo waypoint will be 30m west, 50m north and 50m above the
position where GeoInit was triggered.

Hope that clears it up.

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