Starling planning using waypoints
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Hi,
we want to fly the drone in large indoors environments and we want the planner not to use a single target point but a series of waypoints so that we can plan a very long trajectory inside a building. It does not necessarily has to be on the voxl-portal by clicking, it is ok if we pass along a series of way points coordinates (10-15) and the planner performs plans between waypoints or a long plan passing through the way points. Where should we start looking to do so?
Thank you in advance
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@iparra that's not implemented in the current code base. You'll need to modify the voxl-mapper code to achieve what you are looking to do. You can start by looking here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_planner.cc?ref_type=heads
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@Moderator Thak you for your help.
I already have a first working version as far as planning is concerned, but I'm looking now into voxl-portal to be able to nicely interactuate with the buttons and the voxl-mapper "states".
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@iparra said in Starling planning using waypoints:
@Moderator Thak you for your help.
I already have a first working version as far as planning is concerned, but I'm looking now into voxl-portal to be able to nicely interactuate with the buttons and the voxl-mapper "states".
Another question, after an initial mapping, I don't want to use the mapping feature of voxl-mapper but the planning. Is there a way to tell voxl-mapper not to update the map with the new measures. As there is not actual SLAM, when some VIO fails the map gets ruined and cannot continue flying unless I clear the map and reload. We are relocalizing using april tags, but after the relocalizacions the map can be ruined.
Thank you in advance