Day 11 - Revision history

Michael: /* LOG */

2018-08-14T16:42:31Z

‎LOG

Michael: /* LOG */

2018-08-14T16:26:00Z

‎LOG

Michael at 15:57, 14 August 2018

2018-08-14T15:57:19Z

Florian: Created page with "= LOG = # `mc_pos_control_main.cpp:540` uses the paramter `MPC_ALT_MODE`, to forward the rangefinder senser velocity to the internal z_v state, to enabl..."

2018-08-14T11:38:21Z

Created page with "= LOG = # <code>mc_pos_control_main.cpp:540</code> uses the paramter <code>MPC_ALT_MODE</code>, to forward the rangefinder senser velocity to the internal z_v state, to enabl..."

New page

= LOG =

# <code>mc_pos_control_main.cpp:540</code> uses the paramter <code>MPC_ALT_MODE</code>, to forward the rangefinder senser velocity to the internal z_v state, to enable terrain following
# We need to ensure in FlightController, by subscribing the altitude topic and eventually doing some calculations, that the information in the setpoint, which INTERALLY we treat it as RELATIVE TO GROUND, in the trajectory with the list of setpoints, is CONVERTED IN TO A PX4 compatible ALTITUDE
#* Note altitude (from altitude topic) .relative means relative to home position (!)
#* TODO: Check if altitude.terrain gets meaningful values when mounting an onboard rangefinder sensor (it should)

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 = LOG =
 # Discovered that PX4 does not implement <code>SET_POSITION_TARGET_GLOBAL_INT</code> and mavros mess up converting from global setpoint to local one => Our approach is now:
-#* <code>trajectory_generator</code> node now publish local setpoints in Trajectory message. This has been done referring all the points (UTM) to home position (UTM) (we have just needed to subtract easter and northen of the home position).
+#* <code>trajectory_generator</code> node now publish local setpoints in Trajectory message. This has been done referring all the points (UTM) to home position (UTM) (we have just needed to subtract easter and northen of the home position as our local reference system has the y axis pointing to north).
 #* Send the obtained trajectory with <code>flight_controller</code> node publishing on mavros <code>setpoint_raw/local</code> topic. The "raw" version has been chosen because it allows to  send position, velocity and acceleration all in the same message. The mavros plugin then send <code>SET_POSITION_TARGET_LOCAL_NED</code> mavlink messages.
 #* N.B Mavros itself handle the conversion from ENU (East North UP) to NED (North East Down) so the setpoint we send are in ENU coordinate system.

← Older revision		Revision as of 15:57, 14 August 2018
Line 5:		Line 5:
	#* Note altitude (from altitude topic) .relative means relative to home position (!)		#* Note altitude (from altitude topic) .relative means relative to home position (!)
	#* TODO: Check if altitude.terrain gets meaningful values when mounting an onboard rangefinder sensor (it should)		#* TODO: Check if altitude.terrain gets meaningful values when mounting an onboard rangefinder sensor (it should)
		+	# Found out that PX4 does not handle <code>MAV_FRAME_GLOBAL_TERRAIN_ALT</code> in <code>MISSIO_ITEM</code> command so we decided to use absolute altitude for the orthophoto waypoint adopting <code>MAV_FRAME_GLOBAL</code>.

Day 11 - Revision history

Michael: /* LOG */

Michael: /* LOG */

Michael at 15:57, 14 August 2018

Florian: Created page with "= LOG = # mc_pos_control_main.cpp:540 uses the paramter MPC_ALT_MODE, to forward the rangefinder senser velocity to the internal z_v state, to enabl..."

Florian: Created page with "= LOG = # `mc_pos_control_main.cpp:540` uses the paramter `MPC_ALT_MODE`, to forward the rangefinder senser velocity to the internal z_v state, to enabl..."