AbsolutePlanner Trajectory plannning

[_fisian]

Hello,
I’m trying to create a guidance mode using TrajectoryFcamMode.
I was wondering how the AbsolutePlanner class is supposed to be used with that class and the setPlanner method.

Do I have to call the reset() and process() methods in the enter() and generateFcamAttitudeReference() methods?

Unfortunately the documentation of AbsolutePlanner and TrajectoryFcamMode::setPlanner are not very clear how to use.

[_fisian]

I got it working.
The solution was to use setMaxVerticalSpeed and setMaxHorizontalSpeed, because the default values are apparently 0 (so the planner plans to never leave it’s starting spot).

[jaehyung]

This post helped me a lot.

Thanks!