On Wed, Apr 29, 2009 at 10:29 PM, Hannes Schweikl wrote:
> I am using flightgear (1.9.1) as visual output for my Simulink routing
> model for a UAV. Therefore I feed a list of waypoints into flightgear and
> track the position of the Rascal110-JSBSim via a socket connection.
>
>
>
> So far everything works fine, until the aircraft reaches the last waypoint.
> After this is reached the aircraft keeps flying with the same heading. Isn’t
> it supposed to circle around the last waypoint in order to “wait” there? Is
> there a simple way to make this happen? If I set additional waypoints around
> the last waypoint, I will probably never get a smooth circle or figure
> eight. Furthermore I will have to constantly set the additional waypoints
> after every flown circle.
>
FlightGear's waypoint manager will just put the aircraft in heading hold
mode at the last heading once the final waypoint is reached. Flying a
circle holding pattern around a single point is a UAV specific manuever.
Holding patterns in full scale aviation are usually flown differently, and
the FlightGear system is setup with the expectation that a person will take
over manual control once the autopilot has finished.
Holding a circle pattern around a specific point is not completely simple as
you suggest. It takes some additional logic to do well. The systems that I
have seen appear to do this algorithmically, rather than by following a set
of waypoints that somehow define the dircle. If that's something you'd like
to add to FlightGear, I'm sure many other UAV developers would be interested
in having this capability available.
Best regards,
Curt.
--
Curtis Olson: http://baron.flightgear.org/~curt/
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