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RE: [Paparazzi-devel] Navigation schema ?

From: akochevar
Subject: RE: [Paparazzi-devel] Navigation schema ?
Date: Fri, 13 Jun 2008 12:51:53 -0700
User-agent: Web-Based Email 4.13.3

In a route(ie hmode=route) in the flightplan, the carrot is the position the airplane shoudl be in the carrot amount of seconds.  In a circle the carrot is always outside the desired radius because the carrot is at a position carrot seconds ahead of the aircraft, tangent to the circle.  The idea with this is that if the plane were to go immediately wings level it would fly to the carrot in that many seconds.  the circle function uses Coordinated turn theory to determine the prebank necessary for the radius of circle commanded.  This allows you to actually achieve the desired radius, which was impossible before.

-------- Original Message --------
Subject: [Paparazzi-devel] Navigation schema ?
From: Famille Chateauvieux-Hellwig <address@hidden>
Date: Fri, June 13, 2008 11:27 am
To: address@hidden

Hi all,

I have been trying to look at the paparazzi navigation code some time ago and
gave up because I couldn't really find where to start.

May be a bit of introduction on the Wiki could help. That could be on the
theory page (4. Navigation). Concretely I'd love some diagrams showing the
geometry of the diffrenet navigation modes, circle, gotoWpt, survey. I
couldn't discover what the story with the carrot is.

Could someone give a hint ?

Martial Châteauvieux

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