Sitl and gazebo position offset

ArduCopter
1

I am using multiple docker container running sitl instances. Each drone has it’s own starting position, set with a gps coordinate. I place the drones in the gazebo (v: harmonic) environment with their Spherical Coordinate. But now when I start a mission the drone flys to the 0, 0 point in gazebo, while the first waypoint for each drone is always at the coordinate it started at. So basically they do not care about their offset they started with in gazebo. So I think it is because of a miss match between the local position of the drone and its position in gazebo.

I tried setting the GPS_GLOBAL_ORIGIN to match the 0, 0 gps pos in gazebo. But it never changes, it always stays at its start up gps position. It also wont change when I set:
EK3_SRC1_POSXY 0
EK3_SRC1_VELXY 0
EK3_SRC1_VELZ 0

Also the following setting does not seem to change anything:
SIM_INIT_LAT_OFS x_offset
SIM_INIT_LON_OFS y_offset

Am I missing something when setting the gps_global_origin? Or is there a different setting so I can match the offset in local pos and its position in gazebo?

2

For anybody who might get the same issue. You need to match the -l (home/location) setting on each drone with the sim_vehicle.py command. Then the offset you put it at in gazebo (can be pose or spherical_coordinates) will be what the drone will use as it’s real start location… (offsetted from the location you set with -l).