Amerio.Stephane Posted January 17, 2020 Share Posted January 17, 2020 Hello, We just found out that (with 2.9.0.2 at least), RateCtrl permanently offsets an Entity coordinates. Way to reproduce: create a dummy terrain as a simple plane with geodetic origin at lat/lon/Alt = 0, 0, 0 start Hemu and add an ownship at lat/lon/Alt = 0, 0, 1 verify the ownship actually appears at 0,0,1 on your dummy terrain with Hemu, send RateCtrl for ownship with Z velocity = -1. The ownship starts to rise. Good. After a few seconds, change the RateCtrl Z velocity to 0 and send one msg. The ownship stops rising up. Good. Send EntityCtrl with a coord lat/lon/Alt = 0, 0, 1 (same as the starting coord). The ownship should go back to the start position, but instead it rises up. Use case: the RateCtrl is usually used to aid the interpolation in low frequency systems, to help the extrapolation between frames (send @5Hz a entityctrl along a ratectrl with velocity, while the display is refreshed @60Hz). In the end, if the sending frequency is close to or higher than the display frequency, then the ratectrl should have no effect; but otherwise it can be used as a first order integrator. Link to comment
cash-metall Posted January 20, 2020 Share Posted January 20, 2020 Yes. it looks like a bug. To reset the local offset, you can use the workaround: set the parent entity, reset the offset relative to the parent, and then remove the parent entity. Link to comment
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