Re: [Paparazzi-devel] Flight plan with many waypoints

[Gautier Hattenberger]

Hi,

As describe in the wiki http://paparazzi.enac.fr/wiki/Flight_Plans#Go, 
the attribute approaching_time can be set to control the behavior of 
waypoint crossing. 0 means that you ask to fly above the waypoint, any 
other positive value tells that you want to go to next stage when 
reaching x second of flight before the waypoint. The default value is 
CARROT time define in your airframe file. The maximum number of 
waypoints is 254+1 (0 is a dummy WP, HOME is mandatory).

Gautier

On 25/02/2011 08:49, Reto Büttner wrote:
> Hi guys,
>
> when flying flight plans with more than ten waypoints I find the
> following behaviour:
>
> - When reaching nine out of ten waypoints, the aircraft intersects the
> next segment and joins it smoothly (hmode="route"). Thereby the
> waypoints are not precisely overflown, but little shortcuts are taken
> according to the setting of "approaching_time".
>
> - Always at the tenth waypoint, the aircraft does not intersect the
> next segment, but flys an approach to precisely overfly the next
> waypoint in the direction of the next segment. Thus no shortcut is
> taken, rather a small detour.
>
> Can this behaviour be configured?
>
> Cheers, Reto
>
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