Hello,
I’m trying to figure out why when I add a Dela to a waypoint in mission planner that it will stop indefinitely and not obey the time amount.
Do you have an example mission file? Thanks.
This file below just stops at waypoint 8 forever
QGC WPL 110
0 1 0 16 0 0 0 0 32.969753 -116.995865 4363.517094 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969788 -116.996010 6.096000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969742 -116.996712 3.048000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969215 -116.996803 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 32.968864 -116.996841 -4.572000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 32.968830 -116.996254 -3.048000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 32.968994 -116.995621 -3.048000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969620 -116.995499 6.096000 1
8 0 3 16 5.000000 0.000000 0.000000 0.000000 32.969803 -116.995621 6.096000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969883 -116.995842 6.096000 1
This file blow (only changed waypoint to spline_waypoint) and now it works fine.
QGC WPL 110
0 1 0 16 0 0 0 0 32.969761 -116.995857 4425.853052 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969788 -116.996010 6.096000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969742 -116.996712 3.048000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969215 -116.996803 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 32.968864 -116.996841 -4.572000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 32.968830 -116.996254 -3.048000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 32.968994 -116.995621 -3.048000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969536 -116.995522 6.096000 1
8 0 3 82 5.000000 0.000000 0.000000 0.000000 32.969791 -116.995659 6.096000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 32.969883 -116.995842 6.096000 1
Also when I try and use the TAKOFF on the first point it just takes off and stops at the altitude specified but it never proceeds to the second waypoint
QGC WPL 110
0 1 0 16 0 0 0 0 32.969746 -116.995857 4402.887173 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 6.096000 1
2 0 3 82 0.000000 0.000000 0.000000 0.000000 32.970196 -116.995583 6.096000 1
3 0 3 82 0.000000 0.000000 0.000000 0.000000 32.970165 -116.996017 6.096000 1
4 0 3 21 0.000000 0.000000 0.000000 0.000000 32.969967 -116.995819 0.000000 1
Do you have a dataflash or telemetry log? Thanks.
Or even just your parameters. You may’ve ended up with WPNAV_RADIUS set way too small.
Here is my param list
#NOTE: 10/21/2014 7:04:39 AM Frame :
ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_EXPO,0.3
ACRO_RP_P,4.5
ACRO_TRAINER,2
ACRO_YAW_P,3
AHRS_COMP_BETA,0.1
AHRS_EKF_USE,0
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.1
AHRS_TRIM_X,-0.008890235
AHRS_TRIM_Y,0.024189
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.1
ANGLE_MAX,3000
ARMING_CHECK,1
ATC_ACCEL_RP_MAX,108000
ATC_ACCEL_Y_MAX,18000
ATC_RATE_FF_ENAB,1
ATC_RATE_RP_MAX,18000
ATC_RATE_Y_MAX,9000
ATC_SLEW_YAW,1000
BAROGLTCH_ACCEL,1500
BAROGLTCH_DIST,500
BAROGLTCH_ENABLE,1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,17
BATT_CAPACITY,5100
BATT_CURR_PIN,3
BATT_MONITOR,4
BATT_VOLT_MULT,12.02
BATT_VOLT_PIN,2
BATT_VOLT2_MULT,1
BATT_VOLT2_PIN,-1
BRD_PWM_COUNT,4
BRD_SAFETYENABLE,1
BRD_SER1_RTSCTS,2
BRD_SER2_RTSCTS,2
CAM_DURATION,1
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,1
CH7_OPT,18
CH8_OPT,0
CHUTE_ALT_MIN,10
CHUTE_ENABLED,0
CHUTE_SERVO_OFF,1100
CHUTE_SERVO_ON,1300
CHUTE_TYPE,0
CIRCLE_RADIUS,1000
CIRCLE_RATE,20
COMPASS_AUTODEC,1
COMPASS_DEC,0
COMPASS_DEV_ID,73225
COMPASS_DEV_ID2,131594
COMPASS_DEV_ID3,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_OFS_X,-69
COMPASS_OFS_Y,-121
COMPASS_OFS_Z,-5
COMPASS_OFS2_X,160
COMPASS_OFS2_Y,45
COMPASS_OFS2_Z,-332
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_ORIENT,0
COMPASS_PRIMARY,0
COMPASS_USE,1
EKF_ABIAS_PNOISE,0.0001
EKF_ACC_PNOISE,0.25
EKF_ALT_NOISE,1
EKF_CHECK_THRESH,0.8
EKF_EAS_GATE,10
EKF_EAS_NOISE,1.4
EKF_GBIAS_PNOISE,1E-06
EKF_GLITCH_ACCEL,150
EKF_GLITCH_RAD,15
EKF_GPS_TYPE,0
EKF_GYRO_PNOISE,0.015
EKF_HGT_GATE,10
EKF_MAG_CAL,1
EKF_MAG_GATE,3
EKF_MAG_NOISE,0.05
EKF_MAGB_PNOISE,0.0003
EKF_MAGE_PNOISE,0.0003
EKF_POS_DELAY,220
EKF_POS_GATE,10
EKF_POSNE_NOISE,0.5
EKF_VEL_DELAY,220
EKF_VEL_GATE,6
EKF_VELD_NOISE,0.7
EKF_VELNE_NOISE,0.5
EKF_WIND_PNOISE,0.1
EKF_WIND_PSCALE,0.5
ESC,0
FENCE_ACTION,1
FENCE_ALT_MAX,100
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TYPE,3
FLOW_ENABLE,0
FLTMODE1,2
FLTMODE2,5
FLTMODE3,3
FLTMODE4,6
FLTMODE5,6
FLTMODE6,6
FRAME,2
FS_BATT_ENABLE,1
FS_BATT_MAH,0
FS_BATT_VOLTAGE,10.5
FS_GCS_ENABLE,1
FS_GPS_ENABLE,2
FS_THR_ENABLE,1
FS_THR_VALUE,975
GND_ABS_PRESS,96650.55
GND_ALT_OFFSET,0
GND_TEMP,23.25394
GPS_AUTO_SWITCH,1
GPS_HDOP_GOOD,250
GPS_MIN_DGPS,100
GPS_NAVFILTER,8
GPS_TYPE,1
GPS_TYPE2,0
GPSGLITCH_ACCEL,1000
GPSGLITCH_ENABLE,1
GPSGLITCH_RADIUS,200
HLD_LAT_P,1
INAV_TC_XY,2.5
INAV_TC_Z,5
INS_ACC2OFFS_X,1.409623
INS_ACC2OFFS_Y,1.058522
INS_ACC2OFFS_Z,0.7335012
INS_ACC2SCAL_X,1.018873
INS_ACC2SCAL_Y,1.004617
INS_ACC2SCAL_Z,1.024495
INS_ACC3OFFS_X,0
INS_ACC3OFFS_Y,0
INS_ACC3OFFS_Z,0
INS_ACC3SCAL_X,0
INS_ACC3SCAL_Y,0
INS_ACC3SCAL_Z,0
INS_ACCOFFS_X,-0.1983317
INS_ACCOFFS_Y,-0.1845286
INS_ACCOFFS_Z,-0.9377086
INS_ACCSCAL_X,0.9933267
INS_ACCSCAL_Y,1.004052
INS_ACCSCAL_Z,1.002253
INS_GYR2OFFS_X,0.03354272
INS_GYR2OFFS_Y,0.008729342
INS_GYR2OFFS_Z,-0.007756211
INS_GYR3OFFS_X,0
INS_GYR3OFFS_Y,0
INS_GYR3OFFS_Z,0
INS_GYROFFS_X,0.2013961
INS_GYROFFS_Y,0.04850393
INS_GYROFFS_Z,-0.1355356
INS_MPU6K_FILTER,0
INS_PRODUCT_ID,5
LAND_REPOSITION,1
LAND_SPEED,50
LOG_BITMASK,-22530
LOITER_LAT_D,0
LOITER_LAT_I,0.5
LOITER_LAT_IMAX,1000
LOITER_LAT_P,1
LOITER_LON_D,0
LOITER_LON_I,0.5
LOITER_LON_IMAX,1000
LOITER_LON_P,1
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,5
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,0
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-9000
MNT_CONTROL_X,0
MNT_CONTROL_Y,0
MNT_CONTROL_Z,0
MNT_JSTICK_SPD,0
MNT_MODE,3
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,6
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MOT_SPIN_ARMED,90
MOT_TCRV_ENABLE,1
MOT_TCRV_MAXPCT,93
MOT_TCRV_MIDPCT,52
OF_PIT_D,0.12
OF_PIT_I,0.5
OF_PIT_IMAX,100
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,0.5
OF_RLL_IMAX,100
OF_RLL_P,2.5
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,250
PILOT_VELZ_MAX,250
POSCON_THR_HOVER,643
RALLY_LIMIT_KM,2
RALLY_TOTAL,0
RATE_PIT_D,0.00925
RATE_PIT_I,0.14
RATE_PIT_IMAX,500
RATE_PIT_P,0.14
RATE_RLL_D,0.0125
RATE_RLL_I,0.2025
RATE_RLL_IMAX,1000
RATE_RLL_P,0.2025
RATE_YAW_D,0.004
RATE_YAW_I,0.04
RATE_YAW_IMAX,1000
RATE_YAW_P,0.4
RC_FEEL_RP,25
RC_SPEED,490
RC1_DZ,30
RC1_MAX,2006
RC1_MIN,1015
RC1_REV,1
RC1_TRIM,1514
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC12_DZ,0
RC12_FUNCTION,0
RC12_MAX,1900
RC12_MIN,1100
RC12_REV,1
RC12_TRIM,1500
RC13_DZ,0
RC13_FUNCTION,0
RC13_MAX,1900
RC13_MIN,1100
RC13_REV,1
RC13_TRIM,1500
RC14_DZ,0
RC14_FUNCTION,0
RC14_MAX,1900
RC14_MIN,1100
RC14_REV,1
RC14_TRIM,1500
RC2_DZ,30
RC2_MAX,2016
RC2_MIN,994
RC2_REV,1
RC2_TRIM,1503
RC3_DZ,30
RC3_MAX,2010
RC3_MIN,992
RC3_REV,1
RC3_TRIM,992
RC4_DZ,40
RC4_MAX,2010
RC4_MIN,994
RC4_REV,1
RC4_TRIM,1494
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1863
RC5_MIN,1146
RC5_REV,1
RC5_TRIM,1146
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,2016
RC6_MIN,992
RC6_REV,1
RC6_TRIM,992
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,2017
RC7_MIN,992
RC7_REV,1
RC7_TRIM,993
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1504
RC8_MIN,1502
RC8_REV,1
RC8_TRIM,1503
RC9_DZ,0
RC9_FUNCTION,7
RC9_MAX,1520
RC9_MIN,1000
RC9_REV,1
RC9_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_PIN,55
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RNGFND_FUNCTION,0
RNGFND_GAIN,0.8
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_PIN,-1
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE_MS,0
RNGFND_STOP_PIN,-1
RNGFND_TYPE,0
RNGFND2_FUNCTION,0
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_PIN,-1
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_SETTLE_M,0
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RSSI_PIN,-1
RSSI_RANGE,5
RTL_ALT,2000
RTL_ALT_FINAL,0
RTL_LOIT_TIME,5000
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,2
SIMPLE,0
SR0_EXT_STAT,2
SR0_EXTRA1,2
SR0_EXTRA2,2
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,2
SR1_EXTRA1,2
SR1_EXTRA2,2
SR1_EXTRA3,2
SR1_PARAMS,0
SR1_POSITION,2
SR1_RAW_CTRL,2
SR1_RAW_SENS,2
SR1_RC_CHAN,2
SR2_EXT_STAT,0
SR2_EXTRA1,0
SR2_EXTRA2,0
SR2_EXTRA3,0
SR2_PARAMS,0
SR2_POSITION,0
SR2_RAW_CTRL,0
SR2_RAW_SENS,0
SR2_RC_CHAN,0
STB_PIT_P,11.25
STB_RLL_P,11.25
STB_YAW_P,6
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
TERRAIN_ENABLE,1
TERRAIN_SPACING,100
THR_ACCEL_D,0
THR_ACCEL_I,1.5
THR_ACCEL_IMAX,800
THR_ACCEL_P,0.75
THR_ALT_P,1
THR_DZ,50
THR_MAX,1000
THR_MID,700
THR_MIN,130
THR_RATE_P,6
TRIM_THROTTLE,643
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
WP_YAW_BEHAVIOR,2
WPNAV_ACCEL,250
WPNAV_ACCEL_Z,100
WPNAV_LOIT_JERK,1000
WPNAV_LOIT_SPEED,1000
WPNAV_RADIUS,0
WPNAV_SPEED,650
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,250
Please set WPNAV_RADIUS to something reasonable (default is 200 I believe)
Hello,
This may be a dumb question but are these the parameters that were loaded when I loaded the 3DR_iris+.param under Frame type and if so why wasn’t the correct setting already in WPNAV_RADIUS.
Thanks
I just noticed my param file has this on the first line
#NOTE: 10/21/2014 7:04:39 AM Frame :
and it should be
#NOTE: 2014-10-06 Frame : 3DR IRIS+
Also the param file I’m running has 429 lines and the IRIS+ is only 97.