Set new Location/Position during simulation

[Kinggrass]

Hello everyone,

currently I try to set a new location for the drone.

This is the way I am doing it:

extern "C" EXPORT void InvokeSetPosition(char* vehicle_name, AirSimUnity::AirSimPose pose)
{
    auto simMode = key->GetSimMode();
    if (simMode) {
        auto vehicleApi = simMode->getVehicleSimApi(vehicle_name);
        if (vehicleApi) {
            msr::airlib::Pose poseToBeSet = UnityUtilities::Convert_to_Pose(pose);
            msr::airlib::Kinematics::State currentKinematicsState = *vehicleApi->getGroundTruthKinematics();
            currentKinematicsState.pose = poseToBeSet;
            vehicleApi->setKinematics(currentKinematicsState, true);
            vehicleApi->update();
        }
    }
}

It gets set but unfortunatly the simulation has a issue with that because it does not continue to calculate the simulation or it does not set the position anymore.

Does someone know how I could teleport the drone to a new location?

Best regards

[Kinggrass]

I managed to take the same implementation from the Unreal-Wrapper to the Unity-Wrapper for setKinematics in MultirotorPawnSimApi and with this it works.
But unfortunatly the Drone is confused afterwards and is flying weird routes / drifting around.
I am using it in connection with ArduPilot. Does someone has a hint how I could manage it to be stable at the new position?