A mission command has started
What ArduPilot says:
- Mission: N … N
- Mission: N Jump N/N
- Mission: N …
- Mission: N Jump N/unlimited
Auto mode has started a mission command. The number is the command's place in the mission (1 is the first after home) and the word is its kind: “Mission: 1 Takeoff”, “Mission: 2 WP”, “Mission: 7 RTL”. Commands that act on the way (SetServo, ChangeSpeed, CondYaw) get a line too. “Mission: 6 Jump 2/3” means the DO_JUMP at item 6 has sent the mission back for the second time of three; after the third the mission goes on past it. In a log these lines are the mission's timeline: the time between two of them is how long a leg took, and the last one before an incident says what the aircraft was trying to do.
With MIS_RESTART 0, going back into Auto resumes at the command the mission stopped on, so the numbers do not start from 1 again; with 1 the mission starts over. A tag, a named place that a jump can go to, shows with its number: “Mission: 4 Tag 1”.
Parameters to look at
| Parameter | What it is |
|---|---|
MIS_RESTART | Mission Restart when entering Auto mode |
MIS_TOTAL | Total mission commands |
Where to do it:Mission Energy Check
The code that sends it
Mission: N … N
libraries/AP_Mission/AP_Mission.cpp AP_Mission::start_command() · Open in ArduPilot Copter-4.7.1
Mission: N Jump N/N
libraries/AP_Mission/AP_Mission.cpp AP_Mission::increment_jump_times_run() · Open in ArduPilot Copter-4.7.1
Mission: N …
libraries/AP_Mission/AP_Mission.cpp AP_Mission::start_command() · Open in ArduPilot Copter-4.7.1
Mission: N Jump N/unlimited
libraries/AP_Mission/AP_Mission.cpp AP_Mission::increment_jump_times_run() · Open in ArduPilot Copter-4.7.1