Hi to all,
I intend to operate my autopilot model in a more or less full automated way, a typical mission consisting of a auto take off, a fair number of waypoints and a auto land. For a number of reasons I want to be able to interrupt such a mission by a switch on the RC transmitter in such way that the plane would perform the auto land (as opposed to a RTL). No radio-link is available.
As far as I can determine, this feature is not available on the current version of ArduPilot (2.68).
Looking for a while into the Arduino sketches, I though of modifiing the code in order to "highjack" the "reset-mission" command, and have it jump to the last WP (or rather the 2nd or 3rd last WP) in the mission instead of the 1st WP.
Any thoughts ? any advise ? Some "how-to" would be of interest..
Many thanks and all the best,
Jean.
Replies
Hi,
Ouch, you are getting into the hairiest part of the code: Mission state management and such. There are quite a few globals that get updated from quite a few places.
You would probably be better off using HIL mode when trying it out!
Regards
Soren