Discussions

Ardupilot 2.6 and copter code 3.2.1
Mission Planner 1.3.37

     Tried a spline circle that progressivly increases in altitude via Mission Planner’s auto WP setup for the first time and everything goes as plan in the mission’s early stages; first circle goes at constant selected height and the nose faces ROI but then as the 2nd circle begins while it starts to increase in height it no longer points at the centre (ROI) but towards next waypoint! On a 2nd flight it did the same thing, everything did not proceed to plan after it had correctly completed the first circle; in addition now instead of proceeding to the next WP in spline fashion it went straight thus it was flying a square pattern vice a smooth circle!  

    Nil issues with any other auto mission profiles, they all proceed as called for, including auto circle WP and various missions with more than one ROI assigned, etc.

    Can someone compare their azimuth data with my attached pic for at lease the first two circles, red arrows are azimuth degrees that don’t make sense to me.

    Also, did anyone else notice that the first point of the spline circle always defaults at 0 degrees regardless if you input something else like lets say 90 degrees? However for an auto WP circle your able to manipulate the start of the circle’s first point to be at any location (great feature).