Mission Rewind on Resume

ArduPlane Plane 4.4
1

Hi everyone,
I’m having trouble getting the mission rewind on resume feature to work consistently, as described here:

https://ardupilot.org/plane/docs/common-mission-rewind.html#common-mission-rewind

Here is what I am trying in SITL:

-takeoff
-upload a mission to the vehicle, the first mission item is a DO_SET_RESUME_REPEAT_DIST with the first param set to 1
-Set vehicle to AUTO mode, I see “Resume repeat dist set to 1 m” in the messages tab in Mission Planner
-Let the vehicle past a few waypoints, then select ‘fly to here’ and enter GUIDED mode to any location
-Resume the mission by selecting AUTO mode

I believe at this point the vehicle should resume the mission from 1m before it exited the path, however it goes direct to the next waypoint.

Any help would be appreciated!

2

The MIS_RESTART parameter must be set to zero, to prevent the mission restarting, for this feature to work.

1 Like
3

Indeed I do have it set to zero. Just to be sure I toggled MIS_RESTART on/off but I still have the problem.

I am still not able to narrow down the problem precisely, but I’ve attached two mission planner mission files that seem to reproduce the issue. If I run a fresh sitl instance (Plane 4.4.4 beta 1), takeoff and load the “rewind_working.waypoints” file, the mission rewind feature works. But If I run a fresh sitl with the other file, rewind does not work, as I described in my previous post.

rewind_testing.zip (568 Bytes)

4

Hi @Bill-B,

Thanks for providing a reproducible test. I have been able to replicate the behaviour in ArduPlane stable (V4.4.4) and dev (V4.5).

I have found the issue and a fix is being worked. PR for the fix is here if anyone wants to track it’s status:
Mission: Rewind Reset Fix by Gone4Dirt · Pull Request #25944 · ArduPilot/ardupilot (github.com)

In case anyone else runs into this issue a temporary work around is to switch the order of the DO commands always running DO_SET_RESUME_REPEAT_DIST as the first DO command after a nav command. This is a temporary work around until the fix goes in and trickles down to stable.

2 Likes