Re: [Paparazzi-devel] InsideGreen() or non-circular mission boundary?

[Simon Liebold]

Hello,

So, I changed the order of the polygon corners (now clockwise) and simplified the flight plan a bit. Still, it did not change the outcome.

What puzzles me is that it keeps jumping to the "Center" Block(8) directly after I started the simulator (see attached screenshot) while the simulated airframe is still stationary on HOME. Again, manually switching to any other block will result it jumping back to Block(8) a split-second later.

Now I looked at the generated code (flight_plan.h) trying to understand what is happening with the inputs (x=0.4375; y=0.5):

static inline bool_t InsideGreen(float _x, float _y) { \
  if (_y <= 312.6) {
    if (_y <= -179.7) {
      if (_y <= -569.2) {
        return FALSE;
      } else {
        float dy = _y - -179.7;
        return (-845.1+dy*-3.047754<= _x && _x <= 474.0+dy*0.338852);
      }
    } else {
      float dy = _y - 312.6;
      return (-593.3+dy*0.511548<= _x && _x <= 640.8+dy*0.338852); // It should return this line.
    }
  } else {
    if (_y <= 608.3) {
      float dy = _y - 608.3;
      return (-442.0+dy*0.511548<= _x && _x <= -442.0+dy*-3.661819);
    } else {
      return FALSE;
    }
  }
}

And I don't see why it would not return the line in the middle but jumps to one of the "return FALSE". I have to say, I am not a C expert (yet)...


Simon

Am 04.03.2014 12:26, schrieb Simon Liebold:

Hi Christophe,

Tip: make sure to define your polygons clockwise.

You were right. I had defined it counter-clockwise. But I just briefly tested it is still giving the same results. I will investigate this later when I have more time.

Thanks so far for the hints.

Simon

On Tue, Mar 4, 2014 at 9:04 AM, Simon Liebold <address@hidden> wrote:

Hi Gautier,

thanks for offering help. I did not know that it auto-generates these functions. Interesting.

I tried to use the exception with and without the hight limitation. Still it will jump to "Center" immediately after starting up. If, during simulation, I manually switch to any other block it will jump right back to "Center". It looks as if

!(InsideGreen(GetPosX(),GetPosY()))

is TRUE all the time (not InsideGreen).

I am attaching my flight plan. Maybe you can find my mistake.

Simon

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