Page Comparison

Introduction

This page talk about Point of Interest (here called POI). You could use it in example for aerial photography. Your vehicle nose will always point to the POI when using autonomous flight modes like Position Hold, PathPlanner or GPS Assist (i think so but not tested yet).

This is the manual use of POI, in future releases there will be easier ways to set the POI (LP2Go App, GCS).

Prerequisites

1. MAG and GPS works fine (see here for help with MAG problems Aux Mag Setup and Calibration or search the Forum https://forum.librepilot.org)
2. Altitude Hold works fine (see Altitude Hold)
3. Got a stable flight in Velocity Roam or Position Hold (see here for help Advanced features)
4. Do some successful flights in PathPlanner flightmode.
5. You may need a OPLink or simply use USB for telemetry connection.

POI Location with fixed HomeLocation

1. Power your copter and connect to telemetry with GCS over OPLink (USB will also work but then your copter is limited in movement, see step 4)
2. Wait till you get a good GPS signal and reliable position.
3. Set your HomePosition near by 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, is that right?????)
4. Take your copter and move it to the location where POI should be and leave it there.
5. Go to System > Data Objects  Objects  and open up PoiLocation and PositionState.
6. Click on the North value (standard 0,0000) at PoiLocation and set it to the value of North from PositionState (Don't hit enter or click elsewhere with mouse after input value, otherwise it will be overwritten by telemetry data from flight controller).
7. Click on the red Up arrow on the top
8. Repeat step 6 and 7 for East and Down values

Now your POI is set to the actual position of your copter. If you want to move the POI you can just repeat steps 4 - 8. And the good thing is that you always have a safe HomeLocation for example in case of RTB.

Image 1

Activate / Deactivate YAW Control

Now that you set up the POI Location you must activate it for autonomous flight modes. Which means that your copters front will always point to the POI you defined before after activating the YAW control.

• To activate YAW Control go to System > VtolPathFollowerSettings > YawControl and choose POI (see image 2)
• To deactivate YAW Control go to System > VtolPathFollowerSettings > YawControl and choose Manual

Test it!

1. Set up a first flightmode in normal Attitude mode for take off (or another mode just for take off)
2. Set up a second flight mode with Position Hold
3. Take off in first flightmode
4. Switch to second flight mode (Position Hold), be aware to switch back to first flightmode if something went wrong. 

Copter should now Yaw automatically and point to your defined POI. Be prepared, the initial Yawing could be really fast, depends on your Rate YAW.

Image 2