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POI setup

HomeLocation as POI Location

  1. Power your copter and connect to telemetry with GCS over OPLink or USB
  2. Wait till you get a good GPS signal and reliable position.
  3. Set your HomeLocation where your POI should be. Be sure to set height correctly (Its important because its needed for PathPlanner flightmode)
Warning
titleAbout altitude

The WGS84 altitude in HomeLocation do not refers to the know altitude (usually MSL : Mean Sea Level) of a location but take in account others parameters like the Geoid separation:

Altitude (WGS84) = Height (MSL) + Geoid Separation

Look the altitude stored into the Attitude tab. After a Home position clear, this value should be updated automatically using a reliable GPS position and Geoid separation.

Next, use this altitude value as reference for your HomeLocation/POI settings.

HomeLocation as POI Location

  1. Power your copter and connect to telemetry with GCS over OPLink or USB
  2. Wait till you get a good GPS signal and reliable position.
  3. Set your HomeLocation where your POI should be. Be sure to set height correctly (Its important because its needed for PathPlanner flightmode)

Now the POI is always there where your HomeLocation is set. That's not a good idea if you want to use pathplanner flightmode or use the HomeLocation for RTB . Cause when changing HomeLocation, Waypoints will also change relative to your HomeLocation.
Anyway it will also work in PathPlanner flightmode

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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  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 Image Removed Image Added
  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.

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