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Permalink Reply by Prahas David Nafissian on November 25, 2012 at 8:36am

More -- when i set do_control_speed to 0,1,1 (airspeed, 1 m/s, 1% throt), and had it fly

to a waypoint at the same altitude it started at, it did fine until it started to stall

(ie, it glided with no throt).  Then it went nuts trying to right itself.

I should note I have Alt_Cntl_Alg set to 1, so that I can dive steeply.

My guess is it is programmed to not let itself stall and crash.  Given the

various commands I've given it, it's going a bit nuts...

I'm going to try setting a series of way points, each at a lower altitude,

set at horizontal distances that should be no problem to make (throttle off),

given the glide ratio of the RC plane.  Hopefully I'll never hit stall conditions,

and the do_control_speed command won't wig out.

More later,

--David

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ModeratorPermalink Reply by Graham Dyer on November 25, 2012 at 9:31am

I discovered this while playing with the HIL Sim, I put it in the wiki here under basic commands: (http://code.google.com/p/ardupilot-mega/wiki/MPWaypoint)

All DO_xxx commands currently need a dummy waypoint placed after the command
eg:

WAYPOINT_1
DO_SET_HOME
WAYPOINT_2

Home will be set at WAYPOINT_1 but will not work if WAYPOINT_2 is not there.

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Permalink Reply by Prahas David Nafissian on November 25, 2012 at 10:03am

I've got waypoints after the Do_Chg_Spd command.  But they

have lat/long data.  When you say "dummy" do you mean 

empty waypoints (all fields set to 0)?

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ModeratorPermalink Reply by Graham Dyer on November 25, 2012 at 10:14am

I could only get my do commands to work if there was a waypoint after the do command, but the waypoint wasn't going to be used in my case. I did add it with all fields set to 0.

I didn't try the Chg_Spd command though, just the Set_Servo and Set_Home

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