launch: enable setpoint plugins for APM

[claymation]

As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.

[mhkabir]

How do they handle the local frame? As far as I knew , all the controllers
worked in global...?

Do they reproject from a local to global using a reference? Or do it all in
local and reproject the global into local frame? (Like PX4?)
On 26 Feb 2015 09:26, "Clay McClure" notifications@github.com wrote:

As of ArduCopter 3.2, APM supports position and velocity setpoints via

SET_POSITION_TARGET_LOCAL_NED.

You can view, comment on, or merge this pull request online at:

#224
Commit Summary

• launch: enable setpoint plugins for APM

File Changes

• M mavros/launch/apm2_blacklist.yaml
  https://github.com/mavlink/mavros/pull/224/files#diff-0 (1)

Patch Links:

• https://github.com/mavlink/mavros/pull/224.patch
• https://github.com/mavlink/mavros/pull/224.diff

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#224.

[vooon]

But i need to check how do they do it :).

[claymation]

It looks to me like APM computes in local coordinates and converts global lat/long to local coordinates when necessary. Compare the handling of SET_POSITION_TARGET_LOCAL_NED to that of SET_POSITION_TARGET_GLOBAL_INT below:

https://github.com/diydrones/ardupilot/blob/master/ArduCopter/GCS_Mavlink.pde#L1307

That call to pv_location_to_vector() for the global target does the conversion:

https://github.com/diydrones/ardupilot/blob/77d8f88e45331ce2a54195c14b0ea1f76a624e36/ArduCopter/position_vector.pde#L11

Also note that z in inverted, suggesting a NEU frame is used internally:

https://github.com/diydrones/ardupilot/blob/master/ArduCopter/GCS_Mavlink.pde#L1330

But internals aside, it does work—I've tested in the SITL and found the following to be true:

+vx moves east
-vx moves west
+vy moves north
-vy moves south
+vz moves up
-vz moves down

[vooon]

Not checked axes (if they not NED -- that apm bug!) only handler, now they support position, velocity, acceleration setpoints. APM chould be in GUIDED mode.