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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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Rally points should support more frames then just relative to home #19472

Open WickedShell opened 2 years ago

WickedShell commented 2 years ago

Feature request

We don't have to support all the frames, but at a minimum MAV_FRAME_GLOBAL (MSL) would be really nice, and I'm pretty sure would just work in Plane, I'd need to check the other vehicles. Relative to terrain would also be nice to support. This comes up when using larger vehicles and planning missions far from the takeoff location, at distances it's much easier to work in either MSL or terrain relative.

I think we can support this fairly easily in the transport and storage, as we can use the frame field if using the MISSION_ITEM_INT messages, and stick it in RALLY_FLAGS for the legacy transport. I think we need to stick it in RALLY_FLAGS anyways as we need to support storing it to FRAM in the same footprint. We could simply grab a couple of bits to encode the frame for it, or just list the special case frames we care about (without changing storage formats I think it's really only global, relative, and terrain that will ever be of interest here.

Platform [ x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

StephenCarlson commented 2 years ago

I would like to have this implemented as well. Also, Issue #18876 is relevant to the feature desired here.