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## RE: [Paparazzi-devel] Navigation schema ?

 From: akochevar Subject: RE: [Paparazzi-devel] Navigation schema ? Date: Sat, 14 Jun 2008 09:06:04 -0700 User-agent: Web-Based Email 4.13.4

I dont believe I explained myself very well so I will try again.  The Carrot creates a position some "time" tangent to the desired route, with 0 time starting at the perpendicular from your current position to the route.  The affect is to give you a sort of D term on your route navigation, as the plane will follow the carrot.  Getting on the route early and following it down the route.  You could do something similar by leaving the carrot time = 0, but would lose the affective D term which would cause your course to ossilate.

AJ

-------- Original Message --------
Subject: Re: [Paparazzi-devel] Navigation schema ?
Date: Sat, June 14, 2008 8:56 am

Le vendredi 13 juin 2008 21:51, akochevar@miraterre.com a écrit :
> In a route(ie hmode=route) in the flightplan, the carrot is the position
> the airplane shoudl be in the carrot amount of seconds.

Ok let's forget the circle for now until I understand what the goal is.
I attached a small graphic.
Assuming the plane is in A and the target in B: Is the carrot on the actual
course (Heading line)(carrot A) or on the wanted course (=Bearing or Course
line) (carrot W) or on the real route (carrot R) whatever real route would
mean?
I don't understand why you would compute this carrot position:
- Computing the wanted heading to carrot W or directly to target B doesn't
really make a difference does it ?
- Does knowig the location of carrot 1 helps in anything ?
- How would you compute the carrot on the real route ? Can you predict what
it's going to be ?

Thanks
Martial

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