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Questions about WP parameter WP_MUST_INDEX and some other

Posted by Tomas Soedergren on February 11, 2012 at 4:12am

Hi, I have been searching for info on some WP parameters, without success (wiki not updated and no mouse-over helptext).

Can anybody please explain how to use the following parameters:

  1. WP_MUST_INDEX
  2. XTRK_GAIN_SC
  3. Also I wonder about the "Hit Rad" column in Mission Planner. What is it for?

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Thanks / Tomas

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Replies

  • Developer
    Jason Short February 11, 2012 at 2:05pm

    WP_MUST_INDEX is used internally to recover from Air-restart. It's the Current Waypoint basically. It's reset when entering a mission. Planes can reboot in the air and may need to continue their mission from the exact same point.

    XTRK_GAIN_SC is the crosstrack gain. By default it's one, but increasing it will cause a copter to turn harder towards the ideal line between two waypoints. Too high and you'll get lots of overshoot and a sin wav pattern in google maps between WPs.

    Hit rad - this is the param WP_RADIUS. It's the distance in CM you can be away from a WP to call it reached. You can however pass a WP and it will skip to the next. That's why it's small (100cm) by default.

  • Developer
    Michael Oborne February 11, 2012 at 4:35am
    • WP_MUST_INDEX = this is an internal param for mission scripting
    • XTRK_GAIN_SC = xtrack gain
    • hit rad = im not sure on that one, jast must have implemented something like that.
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