I don't know if I have an hardware/software issue or just don't understand how Tower works.
Was trying to do a slow mission with tower with a dozen waypoints, a circle and one ROI.
I changed my waypoint #2 to 3 f/s which I thought should set the speed for the rest of mission unless I added another speed waypoint which I did not do.
The mission flew fine, did the circles, ROI, etc but it booked at 30+ f/s.
If I have waypoint 2 set at 3 f/s shouldn't everything after that fly at that speed?
3DR Solo, with latest firmware and latest version of Tower off the play store.
Replies
You could set your waypoint nav speed parameter (WPNAV_SPEED) to something slower and run the whole mission at that speed. Then you don't have to worry about setting a speed changes during the mission.
Ran another mission and set another speed point after the next waypoint and it worked.
So with mine if I set my speed point too early it totally ignores it. It did not even kick in a few waypoints later.
Thanks for the link.
I've actually just found a bug in our mission library that may be related. If a "Do" command (like do-change-speed, do-set-roi, etc) is the very first command in a mission, it may be run again and again after the vehicle passes a waypoint.
Most missions start with a take-off command (which is not a do command) so this may be why the bug has persisted for so long.
I expect we will fix this for AC3.3.
Rich,
Ok.. well.. weird. It should be processed wherever it is in the mission.
So you're using the do-set-speed mission command I guess?
It should work although it's possible the speed change won't take effect until the next waypoint if this fix isn't in Solo's version of ardupilot (Solo uses a modified version of AC3.3 and maybe it's missing this fix). Solo should converge with master in a few months (hopefully) so if this is the issue it should be fixed.