Reach waypoint altitude before switching to the next

Greetings,

I am using APM2.6 with a gliding aircraft. I want the plane to ascent making circles around a waypoint until it reaches some altitude.

I have found some useful information in this link: http://plane.ardupilot.com/wiki/common-planning-a-mission-with-waypoints-and-events/

In particular, in section 9 it reads:

Waypoint Option Bitmask – not yet available in the Mission Planner

bit 0	Altitude is stored	0: Absolute	1: Relative
bit 1	Change Alt between WP	0: Gradually	1: ASAP
bit 2
bit 3	Req.to hit WP.alt to continue	0: No	1: Yes
bit 4	Relative to Home	0: No	1: Yes
bit 5
bit 6
bit 7	Move to next Command	0: YES	1: Loiter until commanded

So setting the third bit to true seems to fit with my purposes.

The big problem is... where do I have to set this bit? I want to specify it in a qgroundcontrol plan file, but a standard waypoint has the following format:

n_seq current? ..... WP_command wait time radius orbit radius(loiter)

0 1 0 16 0 50 0

yaw(copter) lat lon altitude continue?

0 37.4262360384338 -6.00360481185401 200 1

Any ideas on setting the waypoint option parameters?

Thanks in advance,

David Alejo Teissière

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iskess May 7, 2014 at 9:06pm

I've been asking for this feature for a while. I operate in steep terrain and I need to climb and descend in a loiter without sequencing to the next waypoint until a chosen altitude is achieved.
It seems like the infrastructure exists already for this feature.
- David Alejo Teissière > iskess May 8, 2014 at 4:01am
  
  So have you found any working solution?
  - David Alejo Teissière > David Alejo Teissière June 16, 2014 at 11:27am
    
    It seems that there is a feasible solution that has been published in the thread:
    
    http://diydrones.com/forum/topics/flight-planner-question
    
    The thing is to use the command 113: MAV_CONDITION_CHANGE_ALT, plus LOITER_UNLIMITED (17) and DO_JUMP(177)
    
    mission command 9 - Waypoint (before loiter)
    
    mission command 10 - Condition Change Alt
    
    mission command 11 - Do Jump (to command 13)
    
    mission command 12 - Loiter unlimited
    
    mission command 13 - Waypoint (after loiter and altitude change)
    
    See the thread for further information.

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Reach waypoint altitude before switching to the next

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