I have been poking around, but cannot seem to find the info on this - which means that as soon as I psot this, I will stumble across it --- but...
When setting up a multiple waypoint mission, how do I make it so that the altitude of a waypoint must be reached before going to the next waypoint? For instance, if I want to loiter at a waypoint at 5 meters then ascend at the same Lat/Long position to 20 meters, then when I get to 20 meters, fly to the next set of coordinates?
WP1: LAt1, Long1, alt:5M
WP2: Lat1, Long1, Alt:20M
WP3: Lat2, Long2, Alt: 20M
When I try this, it seems to only be considering the Latitude and longitude for determining if it is at the waypoint. So what ends up happening is that when it tries to go to WP2, it sees that it is already at the correct lat and long, and starts off to WP3. So instead of ascending in place, it angles up to WP3.
Is there not a command somewhere to set altitude directly? If not, is there a way to have 3D instead of 2D Waypoint conditions that must be met?
Replies
Scott, for ArduCopter 2.9.1 it separates navigation of waypoints and height. So, it is trying to attain the height, but as you say, that's not a requirement of considering a waypoint to have been reached. In AC3.0 I believe they've changed it so that it is attempting to track directly toward each 3D waypoint rather than treating 2D position and height separately, though I haven't tested to verify if that's actually working.
Not sure about ArduPlane.
In case I am not being too clear, what I am looking for is either a setting that says "Hit the altitude to consider the waypoint reached" or else separate "AscendTo" and DescendTo" commands. This may exist, but I cannot find it.
WAYPOINTS.png