When conducting a mission flight, the waypoint is set and the drone stops for about 1 second for each waypoint during the flight, so what parameters should I use to eliminate this phenomenon?
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You can also modify the code：
//检查假如我们已经超时----- check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max)
{
if (loiter_time_max == 0)
{
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, “Reached command #%i”,cmd.index);
return true;
}
No need to modify the firmware…
If you are planning your mission right, the unique thing that I know that causes it is the use of object avoidance… it is a known issue. Are you using it? What is the current value of your OA_TYPE parameter?