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jtanx / picopterx

FYP 2015 Hexacopter project 🚁🚁🚁🚁
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Add public home coordinate parameter to FlightController class #107

Closed 20739367 closed 9 years ago

20739367 commented 9 years ago

GridSpace class needs to use the coordinate of the home location to create the collision grid world. Also a generally useful piece of information to have access to for navigation purposes.

jtanx commented 9 years ago

Haha... looks like it's not implemented in ArduCopter (MAV_CMD_GET_HOME_POSITION)

jtanx commented 9 years ago

One workaround is to monitor when the system goes from disarmed -> armed state and record the current GPS postiion. This won't work if the copter's already in the air and you start the server (happens sometimes if we want to recompile/retest something on the fly, so to speak).

jtanx commented 9 years ago

Done.

Call with fc->fb->GetHomePosition(&home);

Note it returns false if we don't have a home position. So probably wise to check the return value and to stop doing anything if you don't know what the home position is.