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

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Flight plan with many waypoints
Date: Fri, 25 Feb 2011 10:27:51 +0100
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20101208 Thunderbird/3.1.7


As describe in the wiki, 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).


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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