How to change the origin of waypoint in UAV Package Delivery

Question

Robert Naquila 2021-8-7

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https://ww2.mathworks.cn/matlabcentral/answers/894057-how-to-change-the-origin-of-waypoint-in-uav-package-delivery

回答： Robert Naquila 2021-8-7

I want the UAV to travel from [-20,1] to [-88.1056,74.2231] while avoiding obstacles (oaMission) as seen in figure below.

To do this, I modified the first 2 waypoints of oaMission as seen in the image below.

I also updated the initial translation from the Simulation 3D UAV Vehicle as seen in image below

When Simulink was running at the first 3 seconds, the unreal engine started at the assigned starting point [-20,1]. However, the scene suddenly went back to the original starting point [-185.82188,-104.91064,0].

Am I missing something?

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Answer 1

Robert Naquila 2021-8-7

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https://ww2.mathworks.cn/matlabcentral/answers/894057-how-to-change-the-origin-of-waypoint-in-uav-package-delivery#answer_762742

Solved it by changing the the "world position" of the Quadrotor Plant in Multirotor/ Inner Loop and Plant Model/ Low Fidelity Model (see image below).