{"action":"opened","issue":{"url":"https://api.github.com/repos/tum-vision/tum_ardrone/issues/51","labels_url":"https://api.github.com/repos/tum-vision/tum_ardrone/issues/51/labels{/name}","comments_url":"https://api.github.com/repos/tum-vision/tum_ardrone/issues/51/comments","events_url":"https://api.github.com/repos/tum-vision/tum_ardrone/issues/51/events","html_url":"https://github.com/tum-vision/tum_ardrone/issues/51","id":87445621,"number":51,"title":"autopilot jumps to future waypoints.","user":{"login":"magcayaz","id":6759805,"avatar_url":"https://avatars.githubusercontent.com/u/6759805?v=3","gravatar_id":"","url":"https://api.github.com/users/magcayaz","html_url":"https://github.com/magcayaz","followers_url":"https://api.github.com/users/magcayaz/followers","following_url":"https://api.github.com/users/magcayaz/following{/other_user}","gists_url":"https://api.github.com/users/magcayaz/gists{/gist_id}","starred_url":"https://api.github.com/users/magcayaz/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magcayaz/subscriptions","organizations_url":"https://api.github.com/users/magcayaz/orgs","repos_url":"https://api.github.com/users/magcayaz/repos","events_url":"https://api.github.com/users/magcayaz/events{/privacy}","received_events_url":"https://api.github.com/users/magcayaz/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-06-11T18:50:25Z","updated_at":"2015-06-11T18:50:25Z","closed_at":null,"body":"I am trying to get the ardrone to follow the path below:\r\n![screenshot from 2015-06-11 18 44 50](https://cloud.githubusercontent.com/assets/6759805/8115261/20a0d9e4-1048-11e5-81c3-9fd16e2c7b59.png)\r\n\r\nBut while flying the ardrone jumps to a future waypoint and continues from there randomly. \r\nHere is an example path that it took: \r\n![randompath](https://cloud.githubusercontent.com/assets/6759805/8115329/97a1acda-1048-11e5-8cd5-eed17ed3cf26.png)\r\n\r\nI analyzed the way-points that it sent to the autopilot and noticed that in one flight it went from these two points:\r\nNew Target: xyz = -2.062, -2.289, 1.905,  yaw=8.581\t\r\nNew Target: xyz = 4.375, -0.039, 1.905,  yaw=8.581      \r\n\r\nWhereas those points, looking at the waypoint file, correspond to lines 48 and 131. So the autopilot skipped the points in between. \r\n\r\nLine 48 of Waypoint file: goto -2.25 -2.25 2.0 0  \r\nLine 131 of Waypoint file: goto 4.75 0 2.0 0 \r\n\r\nHow should I fix this issue?\r\nIs there a known place in the code where the autopilot calculates the new waypoint? or perhaps a place where it reads the next waypoint?"}}