Hello together, dear developers,
first of all, thank you for your great efforts to develope such a great app.
How do you see your chances to integrate Terrain Follow in Tower App as well?
At least, being able to chose the Waypoint type as “Terrain” instead of “Relative” (to speak with Mission Planner) would be nice to have. Uploding terrain data (kind of prefetching) onto the FC´s SD memory card could still be done via Mission Planner.
Here is a comparison between different compiled missions.
Waypoint file compiled by Tower App (default values):
QGC WPL 110
0 1 3 16 0.000000 0.000000 0.000000 0.000000 51.222111 6.931078 20.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 51.222313 6.931092 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 51.222313 6.931386 20.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 51.222168 6.931216 20.000000 1
Waypoint file compiled by Mission Planner with “Terrain” active (successfull Terrain Following)
QGC WPL 110
0 1 0 16 0 0 0 0 51.242313 6.926912 137.461061 1
1 0 10 16 0.000000 0.000000 0.000000 0.000000 51.242199 6.927116 5.000000 1
2 0 10 16 0.000000 0.000000 0.000000 0.000000 51.242142 6.926521 5.000000 1
3 0 10 16 0.000000 0.000000 0.000000 0.000000 51.241850 6.926547 5.000000 1
4 0 10 16 0.000000 0.000000 0.000000 0.000000 51.241558 6.928049 5.000000 1
5 0 10 16 0.000000 0.000000 0.000000 0.000000 51.241947 6.927824 5.000000 1
6 0 10 177 1.000000 8.000000 0.000000 0.000000 51.242055 6.927556 5.000000 1
Waypoint file compiled by MissionPlanner (default values, e.g. “Relative”):
QGC WPL 110
0 1 0 16 0 0 0 0 51.242280 6.926622 138.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 51.241904 6.927395 100.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 51.242925 6.928275 100.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 51.242441 6.929348 100.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 51.241581 6.928446 100.000000 1
It seems, that the third column stands for the waypoint altitude behaviour (3 > default, i.e. Realtive ; 10 > Terrain; i.e. Terrain Follow).
Looking forward to your feedback!
Best regards,
Ulrich