A resumed mission repeats the last stretch of its route
What ArduPilot says:
- Mission: Returned to interrupted WP
- Resume repeat dist set to N m
The mission holds a DO_SET_RESUME_REPEAT_DIST command; “Resume repeat dist set to 50 m” is that command running. From then on a mission that is interrupted and resumed does not go straight on: it goes back that many metres along the route already flown and repeats the stretch, so that a survey or a spraying run has no gap. “Mission: Returned to interrupted WP” says the repeated stretch is done and the aircraft is again heading for the waypoint it was flying to when it was interrupted.
Where to do it:Mission Energy Check
The code that sends it
Mission: Returned to interrupted WP
libraries/AP_Mission/AP_Mission.cpp AP_Mission::advance_current_nav_cmd() · Open in ArduPilot Copter-4.7.1
Resume repeat dist set to N m
libraries/AP_Mission/AP_Mission_Commands.cpp AP_Mission::command_do_set_repeat_dist() · Open in ArduPilot Copter-4.7.1