Re: [Paparazzi-devel] Altitude unit in different messages

[Henri Pierre]

Hi Felix

Thanks for your answer. This leads me to several other questions: 

- The difference beetween altitude in hmsl and altitude in a local frame should be more or less
constant. Right ?
- WAYPOINT_MOVED message seems to be the corresponding "echo" of the MOVE_WAYPOINT message. x, y are
longitude and latitude (as in MOVE_WAYPOINT) but altitude seems not to be in hmsl but in local frame ? RIght ?
- Is there a way to know which coordinate system is used on each message param ?

Regards
Henri

2012/6/13 Felix Ruess <address@hidden>

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, Felix

On 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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