On this video:
the quad beeps when reaching the mission waypoints (vertexes of the ‘W’).
It is v4.6.3 on PixRacer R15.
I cannot locate parameters about beep when reaching waypoint, or how to do it.
It is a desired feature. How can I replicate it on other vehicles?
Not sure it can be done with params, but it might be very easy to implement a lua script to beep when reaching waypoint !
With the notify:play_tune(tune) function, playing it when the ouput of mission:get_current_do_cmd_id() changes
Available functions are here ardupilot/libraries/AP_Scripting/docs/docs.lua at master · ArduPilot/ardupilot · GitHub
IIRC it is the dfefault behavior.
Not here. For this FC, implementation and version, even the simplest lua script is not possible (for above mission the EKF origin is set manually).
I think this is the only vehicle I had and have beeping when reaching waypoints, and I would like to implement this on others. Moreover, although it is a desired feature, one can think of situations where no beeps would be convenient.
Here two types of buzzer are described: those requiring a waveform (moreless speakers), and those requiring a voltage level. On this other mission the FC buzzer requires a voltage level. The software takes care in not interrupting the program flow while sounds are produced.
So for above mission, in which the FC buzzer required a voltage level, since there was an on board camera, I transformed the mission video into .mp3, and filtered it around the buzzer tone (2700Hz) as follows:
ffmpeg -i mission21Audio.mp3 -af “bandpass=f=2700:width_type=h:width=50” mission21Audio_2700w50.mp3
obtaining:
The tone is seen at beginning (arming) and at the end (disarming) but not in between.
For a fast check I inserted code to force beep at waypoints at /ArduCopter/modeaudio.cpp:
// verify_nav_wp - check if we have reached the next way point
bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
…
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if (loiter_time_max == 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, “2) Reached command #%i”,cmd.index); // *****modified
AP_Notify::events.arming_failed = 1; // *****new
return true;
}
return false;
}
executed a similar mission where apparently there were no beeps at waypoints, got the audio from the video mission and filtered it:
ffmpeg -i mission22Audio.mp3 -af “bandpass=f=2700:width_type=h:width=50” mission22Audio_2700w50.mp3
obtaining:
with the same tones at beginning (arming) and at the end (disarming), but also in between separated 2s.
MP showed in Messages tab:
27/11/2025 19:46:27 : RC10: Relay1 HIGH
27/11/2025 19:46:23 : Mission: 1 Takeoff
27/11/2025 19:46:17 : Mission: 14 Land
27/11/2025 19:46:17 : 2) Reached command #12
27/11/2025 19:46:15 : Mission: 12 WP
27/11/2025 19:46:15 : 2) Reached command #11
27/11/2025 19:46:13 : Mission: 11 WP
27/11/2025 19:46:13 : 2) Reached command #10
27/11/2025 19:46:11 : Mission: 10 WP
27/11/2025 19:46:11 : 2) Reached command #9
27/11/2025 19:46:09 : Mission: 9 WP
27/11/2025 19:46:09 : 2) Reached command #8
27/11/2025 19:46:07 : Mission: 8 WP
27/11/2025 19:46:07 : 2) Reached command #7
27/11/2025 19:46:05 : Mission: 7 WP
27/11/2025 19:46:05 : 2) Reached command #6
27/11/2025 19:46:02 : Mission: 6 WP
27/11/2025 19:46:02 : 2) Reached command #5
27/11/2025 19:46:00 : Mission: 5 WP
27/11/2025 19:46:00 : Mission: 13 Jump 9/9
27/11/2025 19:46:00 : 2) Reached command #12
27/11/2025 19:45:58 : Mission: 12 WP
27/11/2025 19:45:58 : 2) Reached command #11
27/11/2025 19:45:56 : Mission: 11 WP
27/11/2025 19:45:56 : 2) Reached command #10
27/11/2025 19:45:54 : Mission: 10 WP
27/11/2025 19:45:54 : 2) Reached command #9
27/11/2025 19:45:52 : Mission: 9 WP
27/11/2025 19:45:52 : 2) Reached command #8
27/11/2025 19:45:51 : Mission: 8 WP
27/11/2025 19:45:51 : 2) Reached command #7
27/11/2025 19:45:49 : Mission: 7 WP
27/11/2025 19:45:49 : 2) Reached command #6
27/11/2025 19:45:47 : Mission: 6 WP
27/11/2025 19:45:47 : 2) Reached command #5
27/11/2025 19:45:44 : Mission: 5 WP
27/11/2025 19:45:44 : Mission: 13 Jump 8/9
27/11/2025 19:45:44 : 2) Reached command #12
27/11/2025 19:45:42 : Mission: 12 WP
27/11/2025 19:45:42 : 2) Reached command #11
27/11/2025 19:45:40 : Mission: 11 WP
27/11/2025 19:45:40 : 2) Reached command #10
27/11/2025 19:45:38 : Mission: 10 WP
27/11/2025 19:45:38 : 2) Reached command #9
27/11/2025 19:45:36 : Mission: 9 WP
27/11/2025 19:45:36 : 2) Reached command #8
27/11/2025 19:45:34 : Mission: 8 WP
27/11/2025 19:45:34 : 2) Reached command #7
27/11/2025 19:45:32 : Mission: 7 WP
27/11/2025 19:45:32 : 2) Reached command #6
27/11/2025 19:45:30 : Mission: 6 WP
27/11/2025 19:45:30 : 2) Reached command #5
27/11/2025 19:45:28 : Mission: 5 WP
27/11/2025 19:45:28 : Mission: 13 Jump 7/9
27/11/2025 19:45:28 : 2) Reached command #12
27/11/2025 19:45:26 : Mission: 12 WP
27/11/2025 19:45:26 : 2) Reached command #11
27/11/2025 19:45:24 : Mission: 11 WP
27/11/2025 19:45:24 : 2) Reached command #10
27/11/2025 19:45:22 : Mission: 10 WP
27/11/2025 19:45:22 : 2) Reached command #9
27/11/2025 19:45:20 : Mission: 9 WP
27/11/2025 19:45:20 : 2) Reached command #8
27/11/2025 19:45:18 : Mission: 8 WP
27/11/2025 19:45:18 : 2) Reached command #7
27/11/2025 19:45:16 : Mission: 7 WP
27/11/2025 19:45:16 : 2) Reached command #6
27/11/2025 19:45:14 : Mission: 6 WP
27/11/2025 19:45:14 : 2) Reached command #5
27/11/2025 19:45:12 : Mission: 5 WP
27/11/2025 19:45:12 : Mission: 13 Jump 6/9
27/11/2025 19:45:12 : 2) Reached command #12
27/11/2025 19:45:10 : Mission: 12 WP
27/11/2025 19:45:10 : 2) Reached command #11
27/11/2025 19:45:08 : Mission: 11 WP
27/11/2025 19:45:08 : 2) Reached command #10
27/11/2025 19:45:05 : Mission: 10 WP
27/11/2025 19:45:05 : 2) Reached command #9
27/11/2025 19:45:03 : Mission: 9 WP
27/11/2025 19:45:03 : 2) Reached command #8
27/11/2025 19:45:01 : Mission: 8 WP
27/11/2025 19:45:01 : 2) Reached command #7
27/11/2025 19:44:59 : Mission: 7 WP
27/11/2025 19:44:59 : 2) Reached command #6
27/11/2025 19:44:56 : Mission: 6 WP
27/11/2025 19:44:56 : 2) Reached command #5
27/11/2025 19:44:54 : Mission: 5 WP
27/11/2025 19:44:54 : Mission: 13 Jump 5/9
27/11/2025 19:44:54 : 2) Reached command #12
27/11/2025 19:44:52 : Mission: 12 WP
27/11/2025 19:44:52 : 2) Reached command #11
27/11/2025 19:44:50 : Mission: 11 WP
27/11/2025 19:44:50 : 2) Reached command #10
27/11/2025 19:44:48 : Mission: 10 WP
27/11/2025 19:44:48 : 2) Reached command #9
27/11/2025 19:44:46 : Mission: 9 WP
27/11/2025 19:44:46 : 2) Reached command #8
27/11/2025 19:44:42 : Mission: 7 WP
27/11/2025 19:44:42 : 2) Reached command #6
27/11/2025 19:44:40 : Mission: 6 WP
27/11/2025 19:44:40 : 2) Reached command #5
27/11/2025 19:44:38 : Mission: 5 WP
27/11/2025 19:44:38 : Mission: 13 Jump 4/9
27/11/2025 19:44:38 : 2) Reached command #12
27/11/2025 19:44:36 : Mission: 12 WP
27/11/2025 19:44:36 : 2) Reached command #11
27/11/2025 19:44:34 : Mission: 11 WP
27/11/2025 19:44:34 : 2) Reached command #10
27/11/2025 19:44:32 : Mission: 10 WP
27/11/2025 19:44:32 : 2) Reached command #9
27/11/2025 19:44:30 : Mission: 9 WP
27/11/2025 19:44:30 : 2) Reached command #8
27/11/2025 19:44:28 : Mission: 8 WP
27/11/2025 19:44:28 : 2) Reached command #7
27/11/2025 19:44:26 : Mission: 7 WP
27/11/2025 19:44:26 : 2) Reached command #6
27/11/2025 19:44:24 : Mission: 6 WP
27/11/2025 19:44:24 : 2) Reached command #5
27/11/2025 19:44:22 : Mission: 5 WP
27/11/2025 19:44:22 : Mission: 13 Jump 3/9
27/11/2025 19:44:22 : 2) Reached command #12
27/11/2025 19:44:20 : Mission: 12 WP
27/11/2025 19:44:20 : 2) Reached command #11
27/11/2025 19:44:18 : Mission: 11 WP
27/11/2025 19:44:18 : 2) Reached command #10
27/11/2025 19:44:16 : Mission: 10 WP
27/11/2025 19:44:16 : 2) Reached command #9
27/11/2025 19:44:14 : Mission: 9 WP
27/11/2025 19:44:14 : 2) Reached command #8
27/11/2025 19:44:12 : Mission: 8 WP
27/11/2025 19:44:12 : 2) Reached command #7
27/11/2025 19:44:10 : Mission: 7 WP
27/11/2025 19:44:10 : 2) Reached command #6
27/11/2025 19:44:07 : Mission: 6 WP
27/11/2025 19:44:07 : 2) Reached command #5
27/11/2025 19:44:05 : Mission: 5 WP
27/11/2025 19:44:05 : Mission: 13 Jump 2/9
27/11/2025 19:44:05 : 2) Reached command #12
27/11/2025 19:44:03 : Mission: 12 WP
27/11/2025 19:44:03 : 2) Reached command #11
27/11/2025 19:44:01 : Mission: 11 WP
27/11/2025 19:44:01 : 2) Reached command #10
27/11/2025 19:43:59 : Mission: 10 WP
27/11/2025 19:43:59 : 2) Reached command #9
27/11/2025 19:43:57 : Mission: 9 WP
27/11/2025 19:43:57 : 2) Reached command #8
27/11/2025 19:43:55 : Mission: 8 WP
27/11/2025 19:43:55 : 2) Reached command #7
27/11/2025 19:43:53 : Mission: 7 WP
27/11/2025 19:43:53 : 2) Reached command #6
27/11/2025 19:43:51 : Mission: 6 WP
27/11/2025 19:43:51 : 2) Reached command #5
27/11/2025 19:43:48 : Mission: 5 WP
27/11/2025 19:43:48 : Mission: 13 Jump 1/9
27/11/2025 19:43:48 : 2) Reached command #12
27/11/2025 19:43:47 : Mission: 12 WP
27/11/2025 19:43:47 : 2) Reached command #11
27/11/2025 19:43:44 : Mission: 11 WP
27/11/2025 19:43:44 : 2) Reached command #10
27/11/2025 19:43:42 : Mission: 10 WP
27/11/2025 19:43:42 : 2) Reached command #9
27/11/2025 19:43:41 : Mission: 9 WP
27/11/2025 19:43:41 : 2) Reached command #8
27/11/2025 19:43:39 : Mission: 8 WP
27/11/2025 19:43:39 : 2) Reached command #7
27/11/2025 19:43:37 : Mission: 7 WP
27/11/2025 19:43:37 : 2) Reached command #6
27/11/2025 19:43:35 : Mission: 6 WP
27/11/2025 19:43:35 : 2) Reached command #5
27/11/2025 19:43:32 : Mission: 5 WP
27/11/2025 19:43:30 : Delaying 2 sec
27/11/2025 19:43:30 : Mission: 4 Delay
27/11/2025 19:43:30 : 2) Reached command #3
27/11/2025 19:43:26 : Mission: 3 WP
27/11/2025 19:43:26 : Mission: 2 SetROI
27/11/2025 19:43:25 : Mission: 1 Takeoff
27/11/2025 19:43:13 : RC10: Relay1 LOW
Beeps were there (waypoints also separated 2s) but could not be heard by a normal ear, since propeller noise was much louder. So if including code for this case, it can be imposible to hear the beeps.
