What could be causing ardurover to lose track of next waypoint and reset to first waypoint

ArduRover Rover 4.6
1

I have a situation where ardurover 4.6.1 is resetting its next waypoint back to the beginning of the mission and I can’t figure out why. The context is that the companion computer is (using pymavlink) setting mode to hold and disarming, and setting mode to AUTO and arming, frequently (due to frequent GPS precision losses). I acknowledge that the companion computer is frequently flipping back and forth between HOLD mode and Disarmed, and AUTO mode and Armed. But I can’t tell why occasionally this causes ardurover to set its next command item back to command number 1. In this logfile this happens at 19:38:06.699 (logfile entry #331547 see the CNum change from 13 to 1)
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It also happens at 19:52:40.480 (CNum changes from 60 back to 1):
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I have a hunch that there’s some sequence of arming & disarming that would cause the next command (i.e. next waypoint) to reset back to the first one. Perhaps very frequent arming & disarming could cause this for some reason? Could the fact that the GPS fix level is jumping around (from 6 to 1 and back to 6) be contributing?

I am stumped and would appreciate any advice, even ideas on how to diagnose further.

Thanks @rmackay9 please let me know if there’s someone else I should at-mention?

2

When I disarm and rearm during an auto mission, the rover heads back to WP1. Have you considered not disarming and just go into HOLD with the loss of GPS?

3

Agree. Disarming resets the mission, and I don’t think there’s a parameter available to prevent that.

4

Hi @Christopher_Milner,

As @Yuri_Rage says this is the current behaviour and there’s no setting within AP to change it. If you can get away with the vehicle not disarming then the MIS_RESTART = 0 may resolve the issue. Another solution would be to write a lua script to save and restore the active waypoint. I think there may actually already be a script that does this for another vehicle type within the AP_Scripting/applets directory (sorry, I can’t immediately check myself).

5

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