RE: [drones-discuss] How to get target(desire) position in circle mode?
Randy Mackay
Jason,
It’s difficult to get it in lat/lon coordinates but the NTUN message will provide it as offsets from home. Both desired and actual should be there.
-Randy
From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jason Lin
Sent: 28-May-15 1:25 AM
To: drones-...@googlegroups.com
Subject: [drones-discuss] How to get target(desire) position in circle mode?
Hi all,
I fly my quadcopter with circle mode,
then I plot the gps data(lon/lat) in the log with Matlab like this:
Where can I get the target position or desire position data ? I want plot it on the graph to compare with the actual lon/lat like the above graph.
Regards ,
Jason
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Randy Mackay
Jason,
It’s actually in cm from the ekf origin (which is very close to the home location). The x will be in the latitude direction, y in the longitude direction. So it’s similar to lat/lon but it’s offset from the home location (or ekf origin) and it doesn’t have the troublesome scaling that lat/lon coordinates have.
-Randy
From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jason Lin
Sent: 29-May-15 1:25 AM
To: drones-...@googlegroups.com
Subject: Re: [drones-discuss] How to get target(desire) position in circle mode?
Thank you , Randy,
I found this in AC_Circle.cpp
// calculate target position
Vector3f target;
target.x = _center.x + _radius * cosf(-_angle);
target.y = _center.y - _radius * sinf(-_angle);
target.z = _pos_control.get_alt_target();
The target.x/y is the lat/lon coordinates?
Jason
Randy Mackay於 2015年5月28日星期四 UTC+8上午11時10分29秒寫道：
Jason,
It’s difficult to get it in lat/lon coordinates but the NTUN message will provide it as offsets from home. Both desired and actual should be there.
-Randy
From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jason Lin
Sent: 28-May-15 1:25 AM
To: drones-...@googlegroups.com
Subject: [drones-discuss] How to get target(desire) position in circle mode?
Jason Lin
Randy Mackay於 2015年5月29日星期五 UTC+8上午10時36分20秒寫道：