I tried to use the moveTo to return to my take off position, but it moved to the wrong altitude. Both the latitude and the longitude was very precise, but it ended up ~15m above the ground. From the documentation i have understood it as the moveTo function refers to altitude above sea level, same as the GpsLocationChanged returns.
The height I return to is approximately the double of the take off positions altitude above sea level. Have I misunderstood and the frame of reference of the moveTo-function and moveTo refers it’s height to the altitude of the take off position?
A part of the log is displayed below:
09/07/2019 14:48:03.421178 _recv_cmd_cb ardrone3.PilotingState.moveToChanged(latitude=59.85470052294315, longitude=10.485001427393343, altitude=14.0, orientation_mode=MoveToChanged_Orientation_mode.NONE, heading=-0.10540332645177841, status=MoveToChanged_Status.DONE) Current pos after adjusting height: (59.854700602287465, 10.485001046546458, 28.700000762939453) home pos: (59.85470066666673, 10.48500000000046, 14.0)
Current pos after adjusting height is taken from the
GpsLocationChanged right after the first line shows that the moveTo has completed. The
home pos is retrieved the same way, but before takeoff. As you can see, the latitude and longitude is rather precise, but the altitude is twice as high as it should be.