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From: | Henri Pierre |
Subject: | Re: [Paparazzi-devel] Altitude unit in different messages |
Date: | Tue, 19 Jun 2012 17:40:11 +0200 |
Hi Henri,
it's not the unit, but the coordinate system that is different.
Also there are always different possible altitude definitions.
See http://paparazzi.enac.fr/wiki/Altitude_definitions
MOVE_WAYPOINT has the position in (geodetic) lat/lon and altitude in hmsl (height above geoid).
WP_MOVED_ENU has the position in a local EastNorthUp frame.
This local tangent plane coordinate system is usually initialized to have it's origin at the vehicle position at startup.
The INS_REF message contains the origin of this reference frame.
Cheers, FelixOn Wed, Jun 13, 2012 at 3:18 PM, Henri Pierre <address@hidden> wrote:
_______________________________________________Hello
I face the following issue on the altitude unit :
I send a
Gcs MOVE_WAYPOINT 2 3 37.6148529053 -122.356140137 50 (as describe in message.xml, the altitude is 50 meters)
Server send to uav
SIM_NPS sent '2 WP_MOVED_ENU 3 17338 37381 1259 ( altitude is 1259 * 0.0039063 = 4.918)
which is 10 times less than what I sent.
Is there a bug or did i do something wrong ?
Regards
Henri
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