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Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt

Use this file to discover all available pages before exploring further.

GPS tooling in AirGen is targeted at multirotor platforms operating in georeferenced scenes (for example, Cesium streaming). The APIs below let you reposition drones using latitude/longitude/altitude targets instead of world-space meters. 
import airgen

client = airgen.MultirotorClient()
client.confirmConnection()
Before issuing GPS commands, review the Data Types page—particularly GeoPoint and GeoPose—and verify that client.getHomeGeoPoint() reflects the correct geo-reference.

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simSetRobotGeoPose

Instantly relocate a drone to a geodetic pose while optionally enforcing collisions and ground alignment. 
from airgen.types import GeoPose, GeoPoint, Quaternionr, Vector3r

landing_pose = GeoPose(
    geopoint_val=GeoPoint(37.7749, -122.4194, 30.0),
    orientation_val=Quaternionr.from_euler_angles_degrees(0.0, 0.0, 90.0),
)

future = client.simSetRobotGeoPose(
    geopose=landing_pose,
    ignore_collision=False,
    sweep=True,
    on_ground=True,
    bounds_trim=Vector3r(0.05, 0.05, 0.05),
    robot_name="drone0",
)

if future.get():
    print("Drone repositioned successfully")
Parameter highlights:
  • ignore_collision — Allow placement even if the target pose intersects geometry.
  • sweep — When True, performs a swept collision check from the current pose to the target pose.
  • on_ground — Snap the target altitude to the first ground hit along the vertical ray. Tune the search window with ground_trace_range_up / ground_trace_range_down.
  • bounds_trim — Shrink collision bounds when ignore_collision=False (default Vector3r(0.05, 0.05, 0.05)).
  • timeout_sec — Maximum time allowed to find a ground trace when on_ground=True.

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moveToGPSAsync

Plan a straight-line flight toward a geodetic goal at a specified speed. 
from airgen.types import GeoPoint, YawMode

goal = GeoPoint(latitude=37.7750, longitude=-122.4185, altitude=40.0)

client.moveToGPSAsync(
    lla=goal,
    velocity=5.0,
    drivetrain=airgen.DrivetrainType.MaxDegreeOfFreedom,
    yaw_mode=YawMode(is_rate=False, yaw_or_rate=45.0),
    robot_name="drone0",
)
  • velocity is expressed in meters per second.
  • When yaw_mode.is_rate is False, yaw_or_rate specifies the absolute yaw angle to maintain.
  • Drivetrain, lookahead, and timeout parameters mirror moveToPositionAsync.

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moveOnGPSPath

Follow multiple GPS waypoints with optional orientations between segments. 
from airgen.types import GeoPoint, Quaternionr

geopath = [
    GeoPoint(37.7749, -122.4194, 25.0),
    GeoPoint(37.7752, -122.4185, 25.0),
    GeoPoint(37.7754, -122.4176, 25.0),
]

orientations = [
    Quaternionr.IDENTITY,
    Quaternionr.from_euler_angles_degrees(0.0, 0.0, 90.0),
    Quaternionr.IDENTITY,
]

client.moveOnGPSPath(
    geopoints=geopath,
    orientations=orientations,
    velocity=6.0,
    lookahead=-1,
    adaptive_lookahead=1,
    robot_name="drone0",
)
Provide an empty orientations list to preserve the current heading along the path.

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Choosing Between simSetRobotPose and simSetRobotGeoPose

  • simSetRobotPose accepts a Pose in world meters. Use it for relative moves, scenario resets, or when working entirely in the simulation frame.
  • simSetRobotGeoPose accepts a GeoPose in latitude/longitude/altitude. Use it when aligning drones with GIS datasets or real-world coordinates.
In GPS-enabled scenes, combine both approaches: use simSetRobotGeoPose for long-distance placement and simSetRobotPose for fine local adjustments.

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Ground Snapping Strategies

When flying close to the surface, leverage the ground-snapping utilities in both pose setters:
  • Pass on_ground=True to simSetRobotPose or simSetRobotGeoPose to project the target onto the first ground intersection within the specified trace ranges.
  • Adjust ground_trace_range_up / ground_trace_range_down (defaults ±13 km) for tall structures or underground placements.
from airgen.types import Pose, Quaternionr, Vector3r

hover_pose = Pose(
    position_val=Vector3r(10.0, 0.0, -1.0),
    orientation_val=Quaternionr.IDENTITY,
)

client.simSetRobotPose(
    pose=hover_pose,
    ignore_collision=False,
    on_ground=True,
    ground_trace_range_down=50.0,
    robot_name="drone0",
).join()
For local-frame movement commands, return to the Movement page. To script scene layout, explore Pose Control and Runtime Object Spawning.