Hi Everyone:

    The mission I want to plan is like the followings:

    once I switch Auto on,

1. the arducopter will fly to the waypoint1 (33.420526,-111.9252348)

2. the arducopter will loiter at WP1 for 5 secs

3. after that the arducpter will fly to WP2 (3.4203918,-111.9255352)

4. once it reaches WP2, it will return to launch position.

attached is the screenshot of my mission planner

I know the waypoints may be too close but just for demonstration. The waypoints log file is:

#define WP_RADIUS 3 // What is the minimum distance to reach a waypoint?
#define LOITER_RADIUS 10  // How close to Loiter?
#define HOLD_CURRENT_ALT 0 // 1 = hold the current altitude, 0 = use the defined altitude to for RTL
#define ALT_TO_HOLD 0

float mission[][5] = {
{WAYPOINT,0,30,33.420526,-111.9252348},
{LOITER_TIME,5,30,33.420526,-111.9252348},
{WAYPOINT,0,30,33.4203918,-111.9255352},
{RETURN_TO_LAUNCH,0,30,33.4203918,-111.9255352},
};

Can any one take a look at it and tell if it will achieve my purpose?

Also, should I add a LOITER_UNLIM or LAND command after RTL so that it will loiter at home poision or land there? What would happen if I add nothing after RTL?

Thank you very much