Day 11

LOG

1. 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 enable terrain following
2. 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)
3. Found out that PX4 does not handle MAV_FRAME_GLOBAL_TERRAIN_ALT in MISSIO_ITEM command so we decided to use absolute altitude for the orthophoto waypoint adopting MAV_FRAME_GLOBAL.