The mission was changed while the copter was flying it
What ArduPilot says:
- Auto mission changed but failed to restart command
- Auto mission changed, restarted command
In Auto the copter watches the command it is flying and the two after it. When an upload or an edit changes any of them while it is on its way to a waypoint, it starts the current command again with the new data: “Auto mission changed, restarted command”. “… but failed to restart command” means the command at that number could not be started any more (the new mission is shorter, or has stopped); the copter carries on to the target it already had.
What to do, most likely first
The mission was edited or uploaded again from the ground station during the flight.
FixIf that was intended, check on the map that the copter is heading where the new mission says. To change a mission safely, switch to Loiter first, upload, then return to Auto.
A script or a companion computer rewrites mission items in flight.
CheckThe message repeats with no one touching the ground station.
FixMake it write only items that are well ahead of the one being flown.
Where to do it:Mission Energy Check
The code that sends it
Auto mission changed but failed to restart command
ArduCopter/mode_auto.cpp ModeAuto::run() · Open in ArduPilot Copter-4.7.1
Auto mission changed, restarted command
ArduCopter/mode_auto.cpp ModeAuto::run() · Open in ArduPilot Copter-4.7.1