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 3||Req.to hit WP.alt to continue||0: No||1: Yes|
|bit 4||Relative to Home||0: No||1: Yes|
|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