Discussions

There are several commands in MP that don't function as defined although I think CONDITION_CHANGE_ALT is probably one of the worse!

If I use CONDITION_CHANGE_ALT between waypoints and enter these (apparent) valid values:
Rate cm/sec = 200
Alt = 100

Write that to apm, then read from apm I get:
Rate cm/sec = 32
Alt = 0

MAVLinkTypes.cs defs and explanations say:
Ascend/descend at rate.  <Delay mission state machine until desired altitude reached> |Descent / Ascend rate (m/s)| Empty| Empty| Empty|Lat|Long| Finish Altitude
Change_ alt |Rate cm/sec | Alt

Questions:
Why is it not saving desired terminal alt?
Why is it changing the Rate cm/sec from 200, to 32?
Why is it rated <cm/sec> in the display, yet its <m/s> in MAVLinkTypes.cs?
Why is the command being ignored when next waypoint is reached when according to MAVLinkTypes.cs it says <Delay mission state machine until desired altitude reached>?

I know that this command is treated as a <may> command, re http://code.google.com/p/ardupilot-mega/wiki/MAVLink and contradicted in MAVLinkTypes.cs. Although there is an override available in the bit-mask (not implemented) but I guess the inputs might be active, to allow <Delay mission state machine until desired altitude reached>

I really need an answer to this as the described behavior is nowhere even close to decribed, and there seems no alternate way to input commands...

Peter.