On Thursday with the help of my friends field test was done to see if the bug of adding a dummy waypoint to the end of the flight plan is fixed. We started with modified Arduplane 2.65 with the flight plan
QGC WPL 110
0 1 0 16 0 0 0 0 21.062670 105.797165 15.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 21.063156 105.796065 50.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 21.063126 105.798581 50.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 21.061359 105.798619 50.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 21.061344 105.796076 50.000000 1
5 0 3 177 1.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
You can see that there's no dummy waypoint at the end. The test was succeeded, the plane flied twice above waypoints, then loitered over home. So I would say the bug is fixed. The change was done only in process_next_command() in command_process.ino. Here I include the file command_process.ino so that anyone can test with other flight plans.
Replies
Hi Minh,
Thanks for the patch. I'll have a look at it, but I think the full fix will need a few more changes for situations where we have a jump just before another command such as loiter or a airspeed setting.
Before I'd be happy to say this is fixed we need to develop a good test suite and carefully check it behaves correctly.
Cheers, Tridge
Are you sure that this wasn't already fixed by the regular code? It's up to 2.68.