I'm flying (Plane) in very steep terrain and I want to be able to loiter over a point to climb to an given altitude before continuing on with the mission. Same for my approach, I want to loiter over a safe location until the aircraft descends to a given altitude, then automatically proceed with the approach.

I believe I need to use DO_CONDITION_CHANGE_ALT but I'm not sure how to sequence it properly in a flight plan. How should it be placed in relation to the Loiter point? Do I list the Loiter point first, then the DO_Condition or the other way around? What sort of Loiter should I use, Time? Turns? Unlimited?  What values should be entered in the Loiter fields?

I tried to set up a HITL sim to test this, but my laptop can't handle it. If no one knows, could someone try this in their sim?

This seems like a powerful feature if we know how to use it.

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  • Couldn't it be as simple as having the WP that you want a significant alt change to be a loiter WP with enough turns programed that it would give it the needed time to achieve the higher or lower alt??? In other words when it reaches the WP and it's lower than the alt is set would it circle AND continue to climb or just circle? I don't know that yet. Wish I did. 

  • anyone?

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