This discusion may be related to something I have not been able to do in months in the real thing and in SITL: mix in a mission waypoints referenced to Terrain (third parameter 10 (rangefinder)) and Relative (third parameter 3 (barometer)).
This mission in SITL shows it: three W’s in a vertical plane referenced Terrain/Relative/mixed. The mix is:
-High W points Relative (third parameter 3 (barometer)).
-Low W points Terrain (third parameter 10 (rangefinder)).
QGC WPL 110 0 1 0 16 0 0 0 0 33.74113111 -118.374600 44 1 1 0 3 22 0 0 0 0 33.74116111 -118.374600 1.00 1 2 0 3 201 0 0 0 0 33.74111111 -118.375 1.00 1 3 0 10 16 0 0 0 0 33.74111111 -118.37472222 4.00 1 4 0 10 16 0 0 0 0 33.74117111 -118.37472222 1.00 1 5 0 10 16 0 0 0 0 33.74124111 -118.37472222 4.00 1 6 0 10 16 0 0 0 0 33.74117111 -118.37472222 1.00 1 7 0 10 16 0 0 0 0 33.74111111 -118.37472222 4.00 1 8 0 10 16 0 0 0 0 33.74105111 -118.37472222 1.00 1 9 0 10 16 0 0 0 0 33.74099111 -118.37472222 4.00 1 10 0 10 16 0 0 0 0 33.74105111 -118.37472222 1.00 1 11 0 3 16 0 0 0 0 33.74111111 -118.37472222 20.00 1 12 0 3 16 0 0 0 0 33.74117111 -118.37472222 1.00 1 13 0 3 16 0 0 0 0 33.74124111 -118.37472222 20.00 1 14 0 3 16 0 0 0 0 33.74117111 -118.37472222 1.00 1 15 0 3 16 0 0 0 0 33.74111111 -118.37472222 20.00 1 16 0 3 16 0 0 0 0 33.74105111 -118.37472222 1.00 1 17 0 3 16 0 0 0 0 33.74099111 -118.37472222 20.00 1 18 0 3 16 0 0 0 0 33.74105111 -118.37472222 1.00 1 19 0 3 16 0 0 0 0 33.74111111 -118.37472222 20.00 1 20 0 10 16 0 0 0 0 33.74117111 -118.37472222 1.00 1 21 0 3 16 0 0 0 0 33.74124111 -118.37472222 20.00 1 22 0 10 16 0 0 0 0 33.74117111 -118.37472222 1.00 1 23 0 3 16 0 0 0 0 33.74111111 -118.37472222 20.00 1 24 0 10 16 0 0 0 0 33.74105111 -118.37472222 1.00 1 25 0 3 16 0 0 0 0 33.74099111 -118.37472222 20.00 1 26 0 10 16 0 0 0 0 33.74105111 -118.37472222 1.00 1 27 0 10 21 0 0 0 0 33.74119111 -118.374600 0.00 1
The first two W’s are followed normally. For the third, after starting on the high waypoint (third parameter 3), it happens as if it wouldn’t “know” how to go to the following low waypoint (third parameter 10, blue above), “Failsafe terrain data missing” is heard, and the vehicle does an RTL.
This is the video capture:
RTL occurs at t=155s, as appears in the video index.
I don’t know if I am missing something, or this a system limitation I can’t find documented. I have asked about this in the past, resulting the answers the Empty Set ∅.
This happens also in the real thing on all versions I have tried.
This is the SITL parameters file with relevant aparameters:
RNGFND1_MAX_CM 700
TERRAIN_ENABLE 0
Something missing? Is the mixture allowed? Explanation if not?