{"action":"created","issue":{"url":"https://api.github.com/repos/mavlink/qgroundcontrol/issues/6371","repository_url":"https://api.github.com/repos/mavlink/qgroundcontrol","labels_url":"https://api.github.com/repos/mavlink/qgroundcontrol/issues/6371/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/qgroundcontrol/issues/6371/comments","events_url":"https://api.github.com/repos/mavlink/qgroundcontrol/issues/6371/events","html_url":"https://github.com/mavlink/qgroundcontrol/issues/6371","id":316242392,"number":6371,"title":"Questions related to Home Position in Mission mode","user":{"login":"barzanisar","id":26625030,"avatar_url":"https://avatars3.githubusercontent.com/u/26625030?v=4","gravatar_id":"","url":"https://api.github.com/users/barzanisar","html_url":"https://github.com/barzanisar","followers_url":"https://api.github.com/users/barzanisar/followers","following_url":"https://api.github.com/users/barzanisar/following{/other_user}","gists_url":"https://api.github.com/users/barzanisar/gists{/gist_id}","starred_url":"https://api.github.com/users/barzanisar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/barzanisar/subscriptions","organizations_url":"https://api.github.com/users/barzanisar/orgs","repos_url":"https://api.github.com/users/barzanisar/repos","events_url":"https://api.github.com/users/barzanisar/events{/privacy}","received_events_url":"https://api.github.com/users/barzanisar/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-04-20T12:09:13Z","updated_at":"2018-04-21T18:17:34Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"Question 1) What is the purpose of Home position? Is it just so that the vehicle knows where to go back when RTL command is given in mission mode?\r\n\r\nQuestion 2)\r\nI am using Pixracer to fly missions in HITL. By default, the home position is set on the vehicle. However, if I want to change the home position I can EITHER change map center and choose \"Set Home To Map Center\" under \"Planned Home Position\" OR click on home waypoint and drag/drop to another location:\r\n![image](https://user-images.githubusercontent.com/26625030/39049223-eb07412a-44a0-11e8-825b-67cfcc96af81.png)\r\n\r\nBut this does not change my home position because after I upload the above plan and switch to Fly view, the home position still shows on the vehicle.\r\n![image](https://user-images.githubusercontent.com/26625030/39049341-66a4715e-44a1-11e8-965e-07bf0212bc20.png)\r\n\r\nWhen I start this mission, the vehicle returns to the same home position shown above and not what I \"planned\" as in the first picture.\r\n\r\nHow can I change my home position to be not set on vehicle?\r\n\r\nQuestion 3) What is the difference between the \"Planned Home Position\" and \"Actual Home Position\"? It seems like from QGC [doc](https://github.com/barzanisar/qgc-user-guide/blob/master/en/PlanView/PlanView.md#planned-home-position) planned home position just has visual significance and is not really where the vehicle will return to when we RTL in the end of the mission. Whereas, actual home position is the first position where vehicle arms after uploading the mission, regardless of the flight mode we armed the vehicle in. Am I right? Can someone please confirm this?\r\n\r\nQuestion 4) What is the purpose of \"Home Position\" command? I added this as waypoint 3 but then uploading mission fails, with the error message as shown below:\r\n![image](https://user-images.githubusercontent.com/26625030/39050013-ff5d38ca-44a3-11e8-8a1f-ef19a46a7529.png)\r\n\r\n@dagar \r\n\r\n"},"comment":{"url":"https://api.github.com/repos/mavlink/qgroundcontrol/issues/comments/383317884","html_url":"https://github.com/mavlink/qgroundcontrol/issues/6371#issuecomment-383317884","issue_url":"https://api.github.com/repos/mavlink/qgroundcontrol/issues/6371","id":383317884,"user":{"login":"Antiheavy","id":12117027,"avatar_url":"https://avatars1.githubusercontent.com/u/12117027?v=4","gravatar_id":"","url":"https://api.github.com/users/Antiheavy","html_url":"https://github.com/Antiheavy","followers_url":"https://api.github.com/users/Antiheavy/followers","following_url":"https://api.github.com/users/Antiheavy/following{/other_user}","gists_url":"https://api.github.com/users/Antiheavy/gists{/gist_id}","starred_url":"https://api.github.com/users/Antiheavy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Antiheavy/subscriptions","organizations_url":"https://api.github.com/users/Antiheavy/orgs","repos_url":"https://api.github.com/users/Antiheavy/repos","events_url":"https://api.github.com/users/Antiheavy/events{/privacy}","received_events_url":"https://api.github.com/users/Antiheavy/received_events","type":"User","site_admin":false},"created_at":"2018-04-21T18:17:34Z","updated_at":"2018-04-21T18:17:34Z","author_association":"NONE","body":"related: https://github.com/mavlink/qgroundcontrol/issues/5446"}}
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