How to ensure Pixhawk reaches a waypoint's altitude before flying on?

Hi guys...

I fly in mountainous terrain in New Mexico.

I'd like to ensure that my F550 reaches a waypoint altitude before moving on to the next waypoint (more important of course flying UP along rising terrain than the other way around).

Couple questions:

1) Does the Pixhawk do this by default? Perhaps adjusting horizontal speed between waypoints so as to reach the next waypoint's altitude at the same time that next waypoint is reached horizontally? (Seems to be a reasonable safety precaution.)

2) If not, how can I program a flight plan so as to guarantee reaching the next waypoint altitude before moving on?




P.S.  I have been searching high and low for a "complete feature list" of Pixhawk...I find "complete parameter list", and "release notes", but can't find a document that actually says what Pixhawk does in this or that scenario.  Does a document like that exist?  Thanks...

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I'm not sure what you are referring to...that link did not seem to address the subject of this thread...please correct me if I am wrong.




Fixed, wrong link!

I think its ascent will be regulated by a combination of its WPNAV_SPEED and WPNAV_SPEED_UP, as well as the acceleration versions of each. My guess, having not experimented with it, is the copter will rise at a function of those two summed. Say WPNAV_SPEED_UP is 1m/s and WPNAV_SPEED is 1m/s (and accels are the same), I would think the copter will travel at approx a 45 deg angle.

Let x = ground and y = elevation, what you're probably asking is if the copter is flying fairly fast on the x axis, will it "get to the waypoint" on the x axis before attaining y. I think it can, then my guess is it'll travel nearly vertical (probably not what you want for traversing terrain). I think you're going to have to find velocities and accel's that obtain the wanted outcome.

Could be wrong though! Guessing on most of this

Bill....that link is to THIS THREAD!   :)

Oh that's funny...




Just put a takeoff command after each waypoint?  As far as I know, takeoff won't let the copter go to the next point until it has achieved the specified altitude.

It's link to m previous comment saying the same thing ;)

I hope you feel you have the answer now?

You don't need to do that, as explained in previous comments.

Takeoff behaviour is the same as normal waypoint, the only difference in the code is that is uses the current location, and not set lat/lon.

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