Waypoint Generation Algorithm


I wish to understand the algorithm of how waypoints are automatically generated to survey a polygon grid in Mission Planner. I am unable to locate the files, where the algorithm is coded in.

Also, any help regarding how the configuration parameters affect the waypoint generation could be more than helpful to me.

Thanks in advance! :slight_smile:

You should look at "apm_planner/libs/opmapcontrol/src/ " there is most of the code which handles the waypoints and their storage. But be careful - the code is a mess and not easy to understand as the library does not match exactly our needs. The code is not easy to maintain as there are several side effects - but I think you will see as soon as you did some changes :slight_smile:

Thanks for your reply. With your help, I was able to decipher certain sections of it, and with certain changes, I got the thing I needed to work. :slight_smile:

Cool - nice to hear I could help you.
If you implement some exciting new features let me know and make a Pull request so we probably can add it to APM Planner.