Inav (reference 3.0 or earlier) Mission warm in flight reset/restart from scratch

[alccrl]

Hi,

I tried to restart from scratch (the beginning WP1) a mission that was suspended in flight, but i got always LANDING. This could be related to last WP that was of landing type, and very next to the first WP, so, I guess, mission restarts frome the nearest waypoint (actually the takeoff point that is equal to the return last point).
But I am not sure this one explanantion ....

Is there any way to restart a mission, with no need to reload a different file to the controller/eeprom ?
i did not find any doc or video referring this situation.

Alfredo

[breadoven]

WP missions always start from WP 1 regardless of being disrupted mid mission. The OSD system message should show which WP number is active when you enable WP mode, should be WP 1. Something odd going on if it isn't. Are you sure this is mission landing or landing for some other reason ?

[alccrl]

Mission is a polygon with last point next to first point (takeoff/landing point).
If I interrupt mission (back to POS_HOLD) , and then I try to start it again using stick commands, I get the drone trying to land.
I get these messages (attached), I realized now, these may help.

[alccrl]

Before this test I made another one - got same behaviour, but in goggles view there was an osd shift down of one line - may be another bug or something like that either in osd or in goggles, so I lost system messages (see screenshot).

[breadoven]

And actually I was wrong that nav_wp_load_on_boot needs to be enabled to enable the WP load/unload toggle. The toggle is now set by default. Perhaps it should only toggle if nav_wp_load_on_boot is ON ... or it needs documenting more clearly.

I don't like the idea of toggling only when the nav_wp_load_on_boot = ON. Maybe there should be a message when a mission is unloaded. I'll look into that. Is there a spot in the documentation that you think should be made more clear about the toggling behavior?

You already made a change in https://github.com/iNavFlight/inav/blob/master/docs/Controls.md although it didn't include changing the diagram of the stick commands which maybe it should given that's probably what people look at as a reference more than the table. Perhaps add a footnote clarifying the toggle behaviour and different beeper sound between loaded and unloaded.

Also https://github.com/iNavFlight/inav/blob/master/docs/Navigation.md#cli-command-wp-to-manage-waypoints mentions WP loading from the CLI. I noticed the toggle unload also works in the CLI which could be confusing if you're not aware.

[alccrl]

OK, Thanks !
As soon as possible I will read "MSP Navigation Messages" in the Wiki and retest.

If You change the code or docs, I guess I will see the list of changes somewhere in github ...
(I already had a look at the source code and compiled, I was curious, it (2.6.1 for mateksys-f7-std), but I have yet to find a good way to navigate it. Eclipse CDT seems to be supporting docker systems, but since I do not use docker systems, I just configured in Eclipse some target compilation #defines looking at generated cmakefiles, in order to correctly navigate active code).

Alfredo

[tonyyng]

You already made a change in https://github.com/iNavFlight/inav/blob/master/docs/Controls.md although it didn't include changing the diagram of the stick commands which maybe it should given that's probably what people look at as a reference more than the table.

There are three files that make up the diagram.

• StickPositions.ong
• StickPositions.svg
• StickPositions_trans.png

@shellixyz I don't want to make a mess of your changes in these files. Can you advise me how to make these changes and what tools I need to use? The minimum change would be to replace "Load waypoint mission" with "Load/unload wp mission". I could also change "Save waypoint mission" with "Save wp mission" to make the two labels consistent. I wouldn't object if you were to just give me the updated files. :-)

Perhaps add a footnote clarifying the toggle behaviour and different beeper sound between loaded and unloaded.
The sound should already be different:

if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
    const bool success = loadNonVolatileWaypointList();            <- returns false when unloading
    beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
}

[tonyyng]

Also https://github.com/iNavFlight/inav/blob/master/docs/Navigation.md#cli-command-wp-to-manage-waypoints mentions WP loading from the CLI. I noticed the toggle unload also works in the CLI which could be confusing if you're not aware.

Fixed

[breadoven]

Perhaps add a footnote clarifying the toggle behaviour and different beeper sound between loaded and unloaded.
The sound should already be different:

if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
    const bool success = loadNonVolatileWaypointList();            <- returns false when unloading
    beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
}

The sounds are already different, However, before you only got BEEPER_ACTION_FAIL if no mission was stored in EEPROM, otherwise it just kept repeating BEEPER_ACTION_SUCCESS. Now it toggles between the 2 depending on whether the mission has loaded or unloaded which tells you what the stick command just did.