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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.