A mission waypoint is done
What ArduPilot says:
- Passed waypoint #N dist Nm
- Reached waypoint #N dist Nm
The mission moved on from the waypoint with that number. “Reached”: the plane came close enough: within the acceptance radius given in the command, or else within the distance at which it must begin its turn towards the next waypoint, which comes from WP_RADIUS (90 m by default) and the angle of the turn. “Passed”: it crossed the line through the waypoint, square to its track, without coming that close. The number after “dist” is how far from the waypoint it was at that moment.
What to do, most likely first
“Passed” with a large distance: the plane could not turn tightly enough to get to the waypoint.
CheckIn the mission, the legs before that waypoint are short compared with the turn the plane can make.
FixPut the waypoints further apart or make the turns gentler. A plane at 15 m/s with a 45° bank limit turns in a circle of roughly 45 m across; wind makes it wider downwind.
With WP_MAX_RADIUS above 0 a waypoint is not finished until the plane has been within that distance, so it may circle back for one it missed.
Parameters to look at
| Parameter | What it is |
|---|---|
WP_RADIUS | Waypoint Radius |
WP_MAX_RADIUS | Waypoint Maximum Radius |
ROLL_LIMIT_DEG | Maximum Bank Angle |
NAVL1_PERIOD | L1 control period |
Where to do it:Mission Energy Check
The code that sends it
Passed waypoint #N dist Nm
ArduPlane/commands_logic.cpp Plane::verify_nav_wp() · Open in ArduPilot Plane-4.7.1
Reached waypoint #N dist Nm
ArduPlane/commands_logic.cpp Plane::verify_nav_wp() · Open in ArduPilot Plane-4.7.1