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[Paparazzi-devel] Height in telemetry messages

From: Cameron Lee
Subject: [Paparazzi-devel] Height in telemetry messages
Date: Thu, 1 May 2014 21:53:10 -0600


I'm wondering if there is anywhere in the telemetry message sent from the plane to the ground where the height aka Above Ground Level (AGL) is sent? I see the altitude above sea level in the GPS message and something called z in the ESTIMATOR message. Both of these seem to be altitudes above sea level though.

I should mention that a height based either on the ground_alt in the flight plan or the result of NavSetGroundReferenceHere() inarchitected the airborne code would be good. Actually, is there any way that the GCS gets to know the result of NavSetGroundReferenceHere()? If so, that should be all that's needed.



p.s. The reason I'm looking for this is because our system is designed such that the onboard computer with a camera attached gets the plane's location data by listening in on the telemetry sent to the ground. Not having to specify the ground altitude in both the flight plane and the settings for our imaging code would be good.

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