ZigZag mode: storing the two ends of the line and flying between them
What ArduPilot says:
- …: moving to … (line N/N)
- …: moving to …
- …: point B stored
- …: point A stored
- …: manual control
ZigZag flies back and forth between two points, A and B, that you set by flying to each and flicking the ZigZag switch (RCn_OPTION 61); it is made for spraying a field in strips. “point A stored”, “point B stored”: the present position was saved. “moving to A” or “moving to B”: the copter flies itself to that end of the line. “moving to B (line 2/5)”: the same in automatic mode (ZIGZ_AUTO_ENABLE), counting the strips up to ZIGZ_LINE_NUM. “moving to right” (or left, forward, backward): the sidestep of ZIGZ_SIDE_DIST metres to the next strip. “manual control”: the sticks are yours again.
Parameters to look at
| Parameter | What it is |
|---|---|
ZIGZ_AUTO_ENABLE | ZigZag auto enable/disable |
ZIGZ_LINE_NUM | Total number of lines |
ZIGZ_SIDE_DIST | Sideways distance in ZigZag auto |
Where to do it:Setup & Tuning Guide
The code that sends it
…: moving to … (line N/N)
ArduCopter/mode_zigzag.cpp ModeZigZag::save_or_move_to_destination() · Open in ArduPilot Copter-4.7.1
…: moving to …
ArduCopter/mode_zigzag.cpp ModeZigZag::move_to_side() · Open in ArduPilot Copter-4.7.1
ArduCopter/mode_zigzag.cpp ModeZigZag::run_auto() · Open in ArduPilot Copter-4.7.1
ArduCopter/mode_zigzag.cpp ModeZigZag::save_or_move_to_destination() · Open in ArduPilot Copter-4.7.1
…: point B stored
ArduCopter/mode_zigzag.cpp ModeZigZag::save_or_move_to_destination() · Open in ArduPilot Copter-4.7.1
…: point A stored
ArduCopter/mode_zigzag.cpp ModeZigZag::save_or_move_to_destination() · Open in ArduPilot Copter-4.7.1
And 1 more messages, sent from the same places.