Incorrect behavior of MoveToPositionAsync

[majouda7]

Hello,

I am using Python Client API (move* API) to build a path planner algorithm. I am having an issue with moveToPosition API call, after giving the command to move to a certain position I am noticing a huge offset in the drone location in unreal engine. For instance, if I send the drone to the waypoint (-5, 0, -3) (client.moveToPositionAsync(-5, 0, -3, 5).join()) with a velocity of 5m/s, the drone actually goes to (-10, 0, -4) in unreal environment (Ned frame of the drone). I have also noticed that the error increases with velocity and it is a kind of random (not always the same offset for the same waypoint). Moreover, it seems that AirSim is not aware about this offset in unreal because when I call client.simGetVehiclePose().position it returns exactly the same position I requested at the beginning (-5, 0, -3). This is very undesirable especially in a path planning context where a reasonable precision in the environment is required to avoid obstacles. Is there a way to fix that ?
PS: The figures 1 and 2 show the drone at the starting point (0,0) and at the arriving point respectively.
Thanks,

[madratman]

let's track this in 1685