I’m using Copter 3.5.1. This is an auto mission I tried flying this morning (exported via wp list in mavproxy).
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 43.371098 -78.276711 75.869995 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 43.370743 -78.277130 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 43.370754 -78.277115 30.000000 1
3 0 3 201 3.000000 0.000000 0.000000 0.000000 43.368443 -78.277046 30.000000 1
4 0 3 18 2.000000 0.000000 50.000000 0.000000 43.368443 -78.277039 30.000000 1
5 0 3 201 3.000000 0.000000 0.000000 0.000000 43.371235 -78.277115 30.000000 1
6 0 3 16 10.000000 0.000000 0.000000 0.000000 43.371868 -78.277161 30.000000 1
7 0 3 16 5.000000 0.000000 0.000000 0.000000 43.371937 -78.279503 30.000000 1
8 0 3 16 5.000000 0.000000 0.000000 0.000000 43.371967 -78.274635 30.000000 1
9 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
There are two ROI waypoints in that mission (that’s mavlink command 201 in the above list). The first seems to work fine; the ROI is followed by a Loiter (Turns) command and the copter correctly stays pointed at the ROI while it orbits that point.
The second ROI is followed by some side-to-side movements, and arducopter seems to completely ignore this ROI. Instead, the copter always points in the direction of the next waypoint.
Have I misunderstood how the ROI feautre is supposed to work? I want the copter to point at the ROI for those last few waypoints. The most frustrating part here is that this works fine running in SITL: the virtual vehicle is correctly oriented for the entire flight.
Thanks for your help!