Way-point lat/lon issue

Ground Control Software Mission Planner
1

I noticed recently that sometimes when I set a series of way-points, more than 5, that way-point #6 is specified as 0.00 lat, 0.00 long. These were programmed through Mission Planner, written to the APM 2.5 via Mission Planner, and could be read from the APM via Mission Planner with no errors. However, when the boat was sent to conduct a mission way-point #6 would cause it to head off to 0,0 and the logs show similar:

[quote]CMD, 8, 0, 16, 0, 0, 1.20, 44.6253969, -124.0444614
CMD, 8, 1, 16, 1, 0, 3.00, 44.6259904, -124.0447616
CMD, 8, 2, 16, 1, 0, 3.00, 44.6270080, -124.0442752
CMD, 8, 3, 16, 1, 0, 3.00, 44.6268224, -124.0435328
CMD, 8, 4, 16, 1, 0, 3.00, 44.6258176, -124.0440320
CMD, 8, 5, 16, 1, 0, 50.00, 44.6255936, -124.0433024
CMD, 8, 6, 16, 1, 0, 0.00, 0.0000000, 0.0000000
CMD, 8, 7, 16, 1, 0, 50.00, 44.6266720, -124.0427648
CMD, 8, 8, 20, 1, 0, 50.00, 44.6270144, -124.0442752[/quote]

This did not occur every time a mission had more than 5 way-points, usually when the mission involved a ‘mowing-the-lawn’ pattern.

Any thoughts on why this may be occurring and how to resolve it?

2

@Oceantrekker,

I have loaded in over 20 waypoints and have never seen a way point that looked like that except for a “do change” waypoint where I changed the vehicle speed and the lat and lon is always 0.0.

You might have a defective section of memory if it is consistently at waypoint 6.

Have you tried reloading the ArduRover2 code? What version of the code are you using?
Regards,
TCIII

3

Thanks for the ideas. I don’t think Mission Planner thought it was a change speed command as it still shows command #16. But I’ll verify that next time I have the boat out.

I’ll try swapping the APM2.5 board out with another one we happen to have to test the memory issue.

During this test I was running our modified Rover 2.42beta1. I reloaded the firmware a couple of times that day and by the end had commented out nearly all of my code changes. I’m currently in the process of updating the code to 2.42beta3. Will see if that makes a difference too.