Survey (Grid) is great tool for preparing AUTO missions but with new changes in firmware 4.5 in copter some features doesn’t work and have to be manually repaired.
It will be worth to improve Speed change and add empty WP before DO_CHANGE_SPEED if the speed is set just after TAKE_OFF command.
Also heading hold is not steady and changes for a while if it is added on every WP so that will be wiser to set it only once on the beginning of AUTO mission.
@Michael_Oborne maybe with improvements for obstacles it will be worth to fix problems with DO_CHANGE_SPEED in current version of Arducopter firmware in AUTO missions. The survey (Grid) option in Mission Planner is great but it needs manual tuning after each use. I have to add empty WP and delete CONDITION_YAW commands…