SET_POSITION_TARGET_LOCAL_NED does not "time out" when sending velocity

ArduCopter Copter 4.0
1

According to this link:

https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-local-ned

in GUIDED mode the drone should timeout if I do not provide a velocity update from my companion computer/GCS at least every 3 seconds. Well, I send one every 5 seconds and I don’t see a timeout.

Should I assume that the link above is out of date and in fact it never times out for NED velocity requests? Thanks.

2

I have to correct myself. It does time out when sending a velocity setpoint. The drone will just stop in mid-air.

It does NOT however, timeout when sending a position setpoint. You can tell the drone where to go and there is no need to keep sending setpoint updates. Suppose this makes sense given one of the position options is to move relative to the drone’s frame - if you kept sending that the drone would fly away forever.