63
edits
Changes
→LOG
= 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 positionas 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.
