AbsolutePlanner Trajectory plannning

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.

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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).


This post helped me a lot.


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