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Autonomous POI setup

Autonomous POI setup

Dec 08, 2016

Introduction

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

This is the manual use of POI, in future releases there will be easier ways to set the POI (LibrePilot2Go Android App and GCS).

Prerequisites

  1. MAG and GPS must work properly (see here for help with MAG problems Aux Mag Setup and Calibration or search the Forum https://forum.librepilot.org)
  2. Altitude Hold must work properly (see Altitude Hold)
  3. Flight in Velocity Roam or Position Hold must be stable (see here for help Advanced features)
  4. Do some successful flights in PathPlanner flightmode.
  5. You may need an OPLink or simply use USB for telemetry connection.
In this page

 

 

POI setup


About altitude

The WGS84 altitude in HomeLocation does not refer to the common altitude (usually MSL : Mean Sea Level) of a location but takes in account others parameters like the Geoid separation:

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

Look at the altitude displayed in the Attitude tab > Settings

After a clear, this value should be updated automatically using a reliable GPS position and Geoid separation coming from GPS.
Next you should 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 until 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 . This is because when changing HomeLocation, Waypoints will also change relative to your HomeLocation.
Anyway it will also work in PathPlanner flightmode.


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 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)
  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
  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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