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Current Waypoint and Next waypoint

In Arducopter simulation, Whenever i fly waypoint mission i have noticed that the Landing point number is reported as next waypoint whereas a waypoint in mid way yet to be completed.

Eg:
A----> TAKEOFF
B----> Destination Waypoint
C----> Safety return Waypoint at Home
D----> LAND

The copter reports the waypoint correctly until it reaches B. But once it completes B it says its heading to D but not C.

Can anyone help?

What is this command?

Hi @dkemxr its not a command… But I have a practice of placing a return way point at home location and also a land waypoint at home location to ensure that the copter returns back and lands autonomous safely

I typically use a Waypoint and Land rather than RTL also but why are you not using RTL?

And with this the LAND position will be Waypoint C.

A----> TAKEOFF
B----> Destination Waypoint
C----> Safety return Waypoint at Home
D----> LAND

I don’t really understand what you are trying to accomplish.

RTL will choose a shortest path to reach home.

But that will not be a good idea if we want to fly in a particular altitude and we should have good elevation and terrain data.

SMART RTL will store only few points to trace back to home and this also be not useful…

Only way is to place a waypoint by ourself

@dkemxr i will try to post a screen record of mission planner simulation tomorrow for our better understanding. Thank you

You can use Rally points as an option.

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