I want to change the location of map from Qgroundcontrol along with new misssion plan, But when we follow the same "2. connecting to GCS" steps it follows the default mission.

Question

Abhishek Singh 2022-6-1

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1731390-i-want-to-change-the-location-of-map-from-qgroundcontrol-along-with-new-misssion-plan-but-when-we-f

移动：Remo Pillat 2023-5-3

Annotation 2022-06-01 113856.png

As shown in the picture i am using another mission plan but the drone stills go to the default plan you mentioned in your website.

I guess it the problem with launch point.

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Abhishek Singh 2022-6-2

One more question I have is that how we can directly give the mission start command from Q ground control insted of using a step input with "startFlightTime" as step time?

Abhishek Singh 2022-6-6

Thank you for this solution, Now its starting from the specified MAP but the UAV is still not starting from the Take off posotion specified, but some distance away from it in the MAP.

I think as in the default missionplan Launch point is different from the takeoff point so maybe similar thing is needed to do here as well.

i am using this mission plan:

{

"fileType": "Plan",

"geoFence": {

"circles": [

],

"polygons": [

],

"version": 2

},

"groundStation": "QGroundControl",

"mission": {

"cruiseSpeed": 15,

"firmwareType": 0,

"globalPlanAltitudeMode": 0,

"hoverSpeed": 5,

"items": [

{

"AMSLAltAboveTerrain": 15,

"Altitude": 15,

"AltitudeMode": 1,

"autoContinue": true,

"command": 22,

"doJumpId": 1,

"frame": 3,

"params": [

15,

0,

17.44875199,

78.35700722,

15

],

"type": "SimpleItem"

},

{

"AMSLAltAboveTerrain": 15,

"Altitude": 15,

"AltitudeMode": 1,

"autoContinue": true,

"command": 16,

"doJumpId": 2,

"frame": 3,

"params": [

0,

null,

17.44981242,

78.35700722,

15

],

"type": "SimpleItem"

},

{

"AMSLAltAboveTerrain": 15,

"Altitude": 15,

"AltitudeMode": 1,

"autoContinue": true,

"command": 16,

"doJumpId": 3,

"frame": 3,

"params": [

0,

null,

17.44981242,

78.3564921,

15

],

"type": "SimpleItem"

},

{

"AMSLAltAboveTerrain": 0,

"Altitude": 0,

"AltitudeMode": 1,

"autoContinue": true,

"command": 21,

"doJumpId": 4,

"frame": 3,

"params": [

0,

null,

17.44870673,

78.35649888,

0

],

"type": "SimpleItem"

}

],

"plannedHomePosition": [

17.44875199,

78.35700722,

179

],

"vehicleType": 2,

"version": 2

},

"rallyPoints": {

"points": [

],

"version": 2

},

"version": 1

}

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Answer 1

Jianxin Sun 2022-6-2

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链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1731390-i-want-to-change-the-location-of-map-from-qgroundcontrol-along-with-new-misssion-plan-but-when-we-f#answer_1228114

移动：Remo Pillat 2023-5-3

在 MATLAB Online 中打开

For the start point, if you want to use the "home location" defined in your mission plan file, you can use the jsondecode function to parse the file and extract the location value:

y = jsondecode(fileread(pathToYourPlanFile));
dd = Simulink.data.dictionary.open('uavPackageDeliveryDataDict.sldd');
sec = dd.getSection('Design Data');
uavIC_latLon =  evalin(sec, 'uavIC_latLon');
uavIC_latLon(1:2) = y.mission.plannedHomePosition(1:2);
assignin(sec, 'uavIC_latLon', uavIC_latLon);

If you want the model to wait for the mission start command from QGC, you'll need to implement the logic in the "utilities\MAVLinkMissionProtocolExample\exampleHelperMAVMissionProtocol.m" file. You'll probably want to subscribe to the take off command sent by QGC and generate control signals in Simulink model to takeoff.