A loiter command in the mission is finished
What ArduPilot says:
- Loiter orbits complete
- Loiter to alt was stuck at N
- Loiter to alt complete
- Loiter time complete
The mission's loiter commands circle a point for a time, for a number of turns, or until an altitude is reached. Each ends with its own line, and only when the plane, still circling, points towards the next waypoint, so it may fly part of another turn after the time or the turns are done. “Loiter to alt was stuck at …” means the plane circled without getting to the altitude: over three laps its height changed by less than 5 m, so the command was given up at that altitude (in metres) and the mission went on.
What to do, most likely first
“Stuck” while climbing: the plane has too little power for the altitude asked, or the battery is low.
CheckIn the log the throttle is at
THR_MAXand the height barely rises.FixAsk for less altitude, or check what climb rate the plane really reaches against
TECS_CLMB_MAX.“Stuck” while descending: the plane will not sink, in rising air or with a throttle that cannot go low enough.
FixCheck
THR_MINandTECS_SINK_MAX. A clean glider may need its descent planned as a longer path rather than a circle.
Parameters to look at
| Parameter | What it is |
|---|---|
WP_LOITER_RAD | Waypoint Loiter Radius |
TECS_CLMB_MAX | Maximum Climb Rate (metres/sec) |
TECS_SINK_MAX | Maximum Descent Rate (metres/sec) |
THR_MAX | Maximum Throttle |
THR_MIN | Minimum Throttle |
Where to do it:Mission Energy Check
The code that sends it
Loiter orbits complete
ArduPlane/commands_logic.cpp Plane::verify_loiter_turns() · Open in ArduPilot Plane-4.7.1
Loiter to alt was stuck at N
ArduPlane/commands_logic.cpp Plane::verify_loiter_to_alt() · Open in ArduPilot Plane-4.7.1
Loiter to alt complete
ArduPlane/commands_logic.cpp Plane::verify_loiter_to_alt() · Open in ArduPilot Plane-4.7.1
Loiter time complete
ArduPlane/commands_logic.cpp Plane::verify_loiter_time() · Open in ArduPilot Plane-4.7.1