Mission waypoint to change flight mode when in AUTO mode

ArduCopter
1

Hi, I am trying to find the best way to have a vehicle flying in AUTO change into a defined flight mode based on a mission waypoint/command.

Currently I use do_set_servo to pulse an unused channel high, which is seen by our companion computer as a ‘signal’ to change the drone out of AUTO and into GUIDED, where it starts its routine.

Any ideas on the best way to do this? The current method works but is not 100% reliable and not the cleanest.

TIA

3

You can still use a channel pwm change and monitor it with a lua script that changes mode. Channel pwm can be changed with a mission command line.