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
Replies
It seems like the infrastructure exists already for this feature.
So have you found any working solution?
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.