Difference between revisions of "Day 11"
From Bambi
(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...") |
|||
| 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>. | ||
Revision as of 17:57, 14 August 2018
LOG
-
mc_pos_control_main.cpp:540uses the paramterMPC_ALT_MODE, 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)
- Found out that PX4 does not handle
MAV_FRAME_GLOBAL_TERRAIN_ALTinMISSIO_ITEMcommand so we decided to use absolute altitude for the orthophoto waypoint adoptingMAV_FRAME_GLOBAL.
