Cannot save waypoint? ("save wp" rc option feature)

CBwintertime · January 3, 2022, 2:08am

Regarding the “save waypoint” feature. It’s not working for me, but perhaps I simply don’t understand how to use it. I have assigned a button on my transmitter to the purpose, and set the RCxx_option = 7 for the appropriate channel. I have some solid feedback that it is functioning properly, as I get an info message on the radio via telemetry stating “SaveWaypoint HIGH” (and “SaveWaypoint LOW”) when I press (and release) the button. That seems like pretty solid confirmation.

Then I download the mission off of the FC, and it remains empty. Isn’t that where the saved waypoint shows up? Doesn’t it add it to the mission, and then we can download the mission from the FC to view the saved waypoint? If I’m doing everything properly I can save and upload a proper datalog, parameters, etc, but let’s start by finding out if I’m simply clueless here. thanks, Matt

peterbarker · January 3, 2022, 3:20am

We have an autotest which tests this functionality, including downloading
the mission via mavlink
(

github.com

ardupilot/ardupilot/blob/master/Tools/autotest/arducopter.py#L333

    
      
                      "FS_GCS_ENABLE": paramValue,
                      "SIM_SPEEDUP": 10,
                  })
              else:
                  self.set_parameters({
                      "SIM_SPEEDUP": 4,
                      "FS_GCS_ENABLE": paramValue,
                  })
          
          
# fly a square in alt_hold mode
          def fly_square(self, side=50, timeout=300):
          
          
    self.takeoff(20, mode="ALT_HOLD")
          
          
    """Fly a square, flying N then E ."""
              tstart = self.get_sim_time()
          
          
    # ensure all sticks in the middle
              self.set_rc_from_map({
                  1: 1500,
                  2: 1500,

)

The functionality is unlikely to be broken.

That being said, that message can be emitted even if the waypoint isn’t
being successfully added. There’s code in

github.com

ardupilot/ardupilot/blob/master/ArduCopter/RC_Channel.cpp#L198

    
      
                      if ((ch_flag == AuxSwitchPos::HIGH) &&
                          (copter.flightmode->allows_save_trim()) &&
                          (copter.channel_throttle->get_control_in() == 0)) {
                          copter.save_trim();
                      }
                      break;
          
          
        case AUX_FUNC::SAVE_WP:
          #if MODE_AUTO_ENABLED == ENABLED
                      // save waypoint when switch is brought high
                      if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
          
          
                // do not allow saving new waypoints while we're in auto or disarmed
                          if (copter.flightmode == &copter.mode_auto || !copter.motors->armed()) {
                              break;
                          }
          
          
                // do not allow saving the first waypoint with zero throttle
                          if ((copter.mode_auto.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) {
                              break;
                          }

which will cause the waypoint to not be saved.

CBwintertime · January 10, 2022, 3:15pm

Okay, I resolved my issue. The first time I had my transmitter set incorrectly; the second time I was trying to troubleshoot it on the bench, not realizing that it needs to be armed to function (thanks for quoting the appropriate code snippet, which clued me in). Thanks!

marblecreek · June 15, 2024, 2:07pm

Rover :: I have the same setup with RC_7 set for waypoints - “Waypoint set high/low” shows up in the HUD and messages, and also when replaying the TLOG. But, when I try to save the waypoints from the .tlog file, no waypoints are found.

Was armed, and in manual mode.

LAT and LON are logged in the .tlog for positioning replay I assume. Would be fun to export the breadcrumbs. I tried it a couple of times, but got lost in crunching the .csv file of 14K records…

Would appreciate any thoughts - let me know if you need a snippet of the .tlog (31mb) or anything else to tshoot…cd

Yuri_Rage · June 15, 2024, 2:08pm

They are saved to your autopilot and can be downloaded on the Plan screen in Mission Planner. Tlogs are generally useless.

marblecreek · June 15, 2024, 2:12pm

Hey Yuri - thanks for the quick reply - you’re starting to be part of my Saturday routine. Really, appreciate the pointers…cd