I want to change the location of map from Qgroundcontrol along with new misssion plan, But when we follow the same "2. connecting to GCS" steps it follows the default mission.

As shown in the picture i am using another mission plan but the drone stills go to the default plan you mentioned in your website.

I guess it the problem with launch point.

[Jianxin Sun]

The reference point used to convert the latitude/longtitude to local coordinates for navigation is set in "uavPackageDelivery/Ground Control Station/Get Flight Mission/QGC/Mission to Xe/For Each Subsystem/LLA to Flat Earth" block. Its value is "uavIC_latLon" stored in the data dictionary associated with the model. Its default value is [41.886, -87.656]. If you want to use a different reference point, you'll need to update this parameter from the data dictionary "uavPackageDeliveryDataDict.sldd".

[Abhishek Singh]

Thanks for your reply, I also got this but, is there a way so that we get it directly updated from Launch point of the Mission plan we uploaded from Q ground control?

[Abhishek Singh]

One more question I have is that how we can directly give the mission start command from Q ground control insted of using a step input with "startFlightTime" as step time?

[Abhishek Singh]

Thank you for this solution, Now its starting from the specified MAP but the UAV is still not starting from the Take off posotion specified, but some distance away from it in the MAP.

I think as in the default missionplan Launch point is different from the takeoff point so maybe similar thing is needed to do here as well.

i am using this mission plan:

{

"fileType": "Plan",

"geoFence": {

"circles": [

],

"polygons": [

],

"version": 2

},

"groundStation": "QGroundControl",

"mission": {

"cruiseSpeed": 15,

"firmwareType": 0,

"globalPlanAltitudeMode": 0,

"hoverSpeed": 5,

"items": [

{

"AMSLAltAboveTerrain": 15,

"Altitude": 15,

"AltitudeMode": 1,

"autoContinue": true,

"command": 22,

"doJumpId": 1,

"frame": 3,

"params": [

15,

0,

0,

0,

17.44875199,

78.35700722,

15

],

"type": "SimpleItem"

},

{

"AMSLAltAboveTerrain": 15,

"Altitude": 15,

"AltitudeMode": 1,

"autoContinue": true,

"command": 16,

"doJumpId": 2,

"frame": 3,

"params": [

0,

0,

0,

null,

17.44981242,

78.35700722,

15

],

"type": "SimpleItem"

},

{

"AMSLAltAboveTerrain": 15,

"Altitude": 15,

"AltitudeMode": 1,

"autoContinue": true,

"command": 16,

"doJumpId": 3,

"frame": 3,

"params": [

0,

0,

0,

null,

17.44981242,

78.3564921,

15

],

"type": "SimpleItem"

},

{

"AMSLAltAboveTerrain": 0,

"Altitude": 0,

"AltitudeMode": 1,

"autoContinue": true,

"command": 21,

"doJumpId": 4,

"frame": 3,

"params": [

0,

0,

0,

null,

17.44870673,

78.35649888,

0

],

"type": "SimpleItem"

}

],

"plannedHomePosition": [

17.44875199,

78.35700722,

179

],

"vehicleType": 2,

"version": 2

},

"rallyPoints": {

"points": [

],

"version": 2

},

"version": 1

}

%% Thank You

Answer 1

[Jianxin Sun]

For the start point, if you want to use the "home location" defined in your mission plan file, you can use the jsondecode function to parse the file and extract the location value:

y = jsondecode(fileread(pathToYourPlanFile));
dd = Simulink.data.dictionary.open('uavPackageDeliveryDataDict.sldd');
sec = dd.getSection('Design Data');
uavIC_latLon =  evalin(sec, 'uavIC_latLon');
uavIC_latLon(1:2) = y.mission.plannedHomePosition(1:2);
assignin(sec, 'uavIC_latLon', uavIC_latLon);

If you want the model to wait for the mission start command from QGC, you'll need to implement the logic in the "utilities\MAVLinkMissionProtocolExample\exampleHelperMAVMissionProtocol.m" file. You'll probably want to subscribe to the take off command sent by QGC and generate control signals in Simulink model to takeoff.