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:
- WP_MUST_INDEX
- XTRK_GAIN_SC
- Also I wonder about the "Hit Rad" column in Mission Planner. What is it for?
Thanks / Tomas
Replies
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.