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As I recall, if you look at a waypoint flight plan in the waypoint editor, you will see that each waypoint is listed both relative to home, and as GPS coordinates.  I haven't been in that code, but it seems clear that it would just use those GPS coordinates when not "relative to home".  I haven't used this feature, but I assume that it works.
I thought  so but when I disabled "relative to HL"  on each waypoin then uploaded new WP data to UAV and checked waipoint data saved in the UAV (data object->waypoint->waypoint0->position etc.) -  waypoint data was still stored as realtive vaules (meters) not GPS coordinates (I expected GPS coordinates instead)...
I can imagine reasons for that.  Mainly that the flight code only needs to understand one kind of waypoint.  I don't see any "relative to home" flags anywhere in the flight objects, so it looks like the GCS handles it, including translation to the new home location to make it act like it is not relative to home.  It turns out that the flightplan/waypoints stored on the disk have both GPS coordinates Lat Long Alt, and home relative in meters North East Down.

I bet if you move home after loading the plan, that the plan moves, even if it is not relative to home.  Reload the non-home-relative plan after moving home to put it back where it should be.

I would test with a small flight plan (not home relative) with home in the middle, then move home (see whether reuploading the flightplan is needed after moving home) and see if it circles the new home or the old one.

It always starts by flying to first waypoint, wherever that is, period.  No HomeLocation or TakeoffLocation or POI.  When done with last waypoint, the default is to start the mission again by going to first waypoint.  The default is that it does this loop till the battery runs out.  You can change it to land after the last waypoint, etc.

But wiki says https://librepilot.atlassian.net/wiki/spaces/LPDOC/pages/84672520/Autonomous+POI+setup:
Quote
Set your HomePosition near where you are flying. Be sure to set height correctly (Its important because in PathPlanner flightmode copter will first fly to HomeLocation and then to the waypoints and heights for waypoints will be used from HomeLocation)

My tests shows the same: when I switch to pathplanner flight mode during fly copter move to HL first then to the first WP...
I'm surprised by that.  My home location is always close to where I take off and engage pathplanner mode, but I would have guessed I would have noticed it going to home location rather than 1st waypoint.  I've done this many times.  Even last weekend.  It's probably because there is some distance tolerance and doesn't have to hit waypoints exactly.  It thinks it is already there and just heads off to the first waypoint.  This is something I will definitely test the next time I fly.

A quick look, I don't see the FC code specifically going to 0,0,0 at planner startup, but it is possible that the GCS just loads 0,0,0 into the first wayplint and thus uses 3 waypoints when the user only made 2.  If that is the way it works, it sounds like a bug that got documented the way it is.  Why would you want to force it to go home rather than letting the user add a waypoint at home if he really wants one?

"heights for waypoints will be used from HomeLocation" maybe that is POI mode where the flight plan is localized right at the POI.  Maybe it means it is relative to home.
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As I recall, if you look at a waypoint flight plan in the waypoint editor, you will see that each waypoint is listed both relative to home, and as GPS coordinates.  I haven't been in that code, but it seems clear that it would just use those GPS coordinates when not "relative to home".  I haven't used this feature, but I assume that it works.

I thought  so but when I disabled "relative to HL"  on each waypoin then uploaded new WP data to UAV and checked waipoint data saved in the UAV (data object->waypoint->waypoint0->position etc.) -  waypoint data was still stored as realtive vaules (meters) not GPS coordinates (I expected GPS coordinates instead)...


It always starts by flying to first waypoint, wherever that is, period.  No HomeLocation or TakeoffLocation or POI.  When done with last waypoint, the default is to start the mission again by going to first waypoint.  The default is that it does this loop till the battery runs out.  You can change it to land after the last waypoint, etc.

But wiki says https://librepilot.atlassian.net/wiki/spaces/LPDOC/pages/84672520/Autonomous+POI+setup:
Quote
Set your HomePosition near where you are flying. Be sure to set height correctly (Its important because in PathPlanner flightmode copter will first fly to HomeLocation and then to the waypoints and heights for waypoints will be used from HomeLocation)

My tests shows the same: when I switch to pathplanner flight mode during fly copter move to HL first then to the first WP...
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As I recall, if you look at a waypoint flight plan in the waypoint editor, you will see that each waypoint is listed both relative to home, and as GPS coordinates.  I haven't been in that code, but it seems clear that it would just use those GPS coordinates when not "relative to home".  I haven't used this feature, but I assume that it works.

It always starts by flying to first waypoint, wherever that is, period.  No HomeLocation or TakeoffLocation or POI.  When done with last waypoint, the default is to start the mission again by going to first waypoint.  The default is that it does this loop till the battery runs out.  You can change it to land after the last waypoint, etc.

Crazy homework assignment:  :)  If you put a waypoint on the opposite side of the earth, would it try to fly through the earth to get there?  Does Relative to Home or not make a difference?   ???

As I recall, one color of lines and arrows on the waypoint plan are for the plan, while others are "error destination".  Error destination is where it goes if it has an error going to the normal waypoint.  Like if it can't make the desired speed because of wind or can't maintain altitude because of empty fuel (guesses).  I did have this trip me up on one airplane before I got the airspeed behaving.  It kept turning around and going back to waypoint 1 (error destination).  It is good to select mindful error destinations including landing (or disable error destinations) for anything that is not just a trivial test.  You can disable error destinations (which is just a waypoint number) by putting a negative number in the error destination for each waypoint.

There is maybe even another set of lines and arrows because there is also "jump destination".
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Applications - Autonomous Flight / Re: YAW control to facing next waypoint not POI
« Last post by Marico on July 27, 2021, 05:29:12 pm »
Correct me if I'm wrong: I see the waypoints are stored in FC only as relative "measurements" values and they are related to home location (if "relative to home" is set)  but what happen when "relative to home" in waypoint config is NOT set? They are relative to what - take off place? Does UAV always start flight plan with flying to HL first then first WP? What happen when I take off far away from (saved) HL but with uploaded same waypoints with unchecked "relative to home"?
Next my question is about arrows on flight plan map. What is the meaning red arrows/pointers with dashed (or not dashed) lines?
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I have never used POI, but maybe someone else can give some advice.

Some related things that I do know:
- Clicking on the map and setting the Home Location to where you want POI is not a bad idea like it says in the wiki.  Flight plans now have an option to be relative to Home Location or not (and I presume this works).  So either set Home at the interesting place you want to watch and then click up a flight plan, or first convert an already working flight plan to absolute coordinates, and then move Home Location to where you want to the interesting place and the flight plan will not move.  In both cases, you are doing the simple thing of using POI Location = 0,0,0 and you don't need to change it.
- HomeLocation has nothing to do with RTB (or really anything that the user needs to worry about) unless you use TakeoffLocation->Mode->Preset and then it is relative to Home so 0,0,0 = Home and it will RTB to this entered location rather than arming location or first gps lock location.  By default RTB goes to TakeOffLocation=ArmingLocation.
- I may be wrong, but I recall TakeOffLocation is always where GPS got a good lock and it does not correctly follow the settings to be arming location or first arming location...
- There seems to be a flight mode called POI, but I would probably try VtolPFSettings -> YawControl = POI
- VtolPFSettings.YawControl has PathDirection which sounds like it points to next waypoint
- VtolPFSettings.YawControl has MovementDirection which sometimes goes a little crazy when hovering in one place and it moves a tiny amount and so it quickly turns in that direction, only to find that it has moved a tiny amount in another direction and quickly turns to point in that direction.  If your quad doesn't like yaw, then it is doing a lot of something it doesn't like.  Turn down the yaw max rate in Stabilization -> Advanced -> Responsiveness -> Maxratelimit -> Yaw
- VtolPFSettings.YawControl has Manual which I use sometimes to point the camera at this or that while it is flying a waypoint mission.
- HomeLocation is just some point near by where you fly that doesn't have to relate to anything.
- POI Location (I am pretty certain) is relative to Home Location, so POI Location = 0,0,0 is exactly Home Location.  100,0,0 is 100 meters north of HomeLocation.
- POI Location (I presume) is where it should always point the nose when flying GPS and with YawControl=POI, but I have never used POI.
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Applications - Autonomous Flight / YAW control to facing next waypoint not POI
« Last post by Marico on July 25, 2021, 08:48:28 pm »
Hello,
I try figure out how System > VtolPathFollowerSettings > YawControl set to "POI" works.  Let say I have a 3  waypoints  (a triangle). In the middle is Home location. During approaching (next) waypoint copter always is (front) facing Home.  So I guess Home location is POI in this context, but in the details - what is the difference between POI and Home location? Documentation about "HomeLocation as POI Location" says something about PoiLocation and PositionState but is not clear for me...

Is it possible configure it to facing approaching (next) waypoint or just facing front current fly direction instead of POI?

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After a few flights my Revolution has some problems with  GPS detection (ublox, m8N). GPS serial speed (hardware tab in GCS) is set to 115200
I've never used 115200.  I use 57600.  You might try that.

system Settings->GPSSettings->UbxAutoConfig is set to AutoBaudAndConfigure. What is the difference between AutoBaud and AutoBaudAndConfigure and AutoBaudConfigureAndStore?
Previously you had to configure the GPS itself to have a certain baud rate and to send a certain set of messages.  LibrePilot does that for you automatically.

Autobaud only detects the GPS baud rate, and changes it to whatever you have configured.
AutoBaudAndConfigure adds configuring it to send the correct set of message types.  This is the default and is recommended.  No matter how the GPS is configured, it will be temporarily (till power off) changed to the correct values.
AutoBaudConfigureAndStore also stores the correct configuration permanently.  This was useful for a few historical reasons.  Today it is mainly useful if your GPS looses power (or otherwise reboots) and then power comes back, while the FC has power the whole time, in the middle of a flight.  It is also useful in that it removes extra configured messages as there is no temporary settings reset, only permanently clear them and reboot.  AutoBaudAndConfigure does not remove any extra messages.

Any change to GpsSettings or GPS baud rate will re-run whatever your autoconfig option is set to.

Be aware that all 4 wires are needed for the GPS to work correctly.

If you catch it failing, you can look at GpsPositionSensor: AutoConfigStatus, BaudRate, and SensorType to see if it is trying or has given up.  If it is trying, you can unplug and plug the GPS to see if that fixes it.  If that fixes it, it sounds like bad cable, connector, or GPS.

Vibration is a bad thing over the long term.  You MUST carefully balance your props, or your connectors and wires will go bad quickly.  I carefully run one motor up at a time holding the quad in hand, and using Output->TestOutputs to check for vibration.  This is dangerous, so you do it at your own risk.  I really recommend getting used to it with props off and maybe wearing a coat and gloves for protection.  Set all Output sliders all the way to the left.  Enable TestOutputs (read the warning).  Slowly move one slider (observe that you know which motor with NW, NE, SE, SW) a little to the right till that motor starts.  Hold the quad tightly and safely.  Increase power.  For up to 500 sized quads you should be able to hold it at full power on one motor.  Try all motors, one at a time.  It's usually obvious if there is a bad vibration problem.
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Hardware / Revolution and problem with GPS detection after a few flights...
« Last post by Marico on July 16, 2021, 11:14:20 pm »
After a few flights my Revolution has some problems with  GPS detection (ublox, m8N). GPS serial speed (hardware tab in GCS) is set to 115200, system Settings->GPSSettings->UbxAutoConfig is set to AutoBaudAndConfigure. What is the difference between AutoBaud and AutoBaudAndConfigure and AutoBaudConfigureAndStore?
First thought was there is a connection/wiring problem (got loose after few flights) but no. It just won't always detect it after connecting the battery as it was before. When I change speed in Hardware tab sometimes detect it but after such change system refuse to arm and need restart. And after restart problem occur again. It just need a couple of times reconnecting flight battery to detect GPS... What's going on?
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GCS General / Re: How get relative to ground altitude?
« Last post by TheOtherCliff on July 16, 2021, 07:04:27 pm »
LibrePilot can send telemetry in either UAV/OpenPilot/LibrePilot/MinOpOsd format or MSP/MultiWii/MWOSD format.

OSD firmware can be downloaded/built and flashed for these FC telemetry protocols or for direct GPS (NMEA/?UBLOX?) connection.  FC telemetry does not contain messages in normal GPS format.  You must pick an OSD firmware that matches your data.

There is a LibrePilot variant of MWOSD firmware for best compatibility with MWOSD protocol.

There are others here that know more about OSD than I do.

I would look for recent firmware that supports the LibrePilot variant of MWOSD for my OSD hardware.

If you have MinimOSD hardware, here is a good thread with everything you need for it:
https://forum.librepilot.org/index.php?topic=4938.0
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GCS General / Re: How get relative to ground altitude?
« Last post by Marico on July 16, 2021, 03:03:46 pm »
I recall that OSD also does this for you so it shows friendly numbers in goggles.

I have an old OSD module which requires a typical NMEA GPS. AFAIK Revolution can output telemetry data on selected ports.
Is this telemetry data just "emulate" real GPS output, so I can connect Revolution telemetry output to GPS input in my OSD? Or Revolution require dedicated OSD module (MinOPOSD)?
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