ArduCopter: make ROI persistent across waypoints

[HeliHenkie]

After testing firmware 3.1 rc2 it appears ROI is not functioning as it should/could.

1. According to the wiki it should be possible to influence yaw behaviour of DO_SET_ROI by passing a parameter in the mission planner waypoint list. Doing this has no effect on flying behaviour. Is this a bug?
2. It should be possible to set 1 ROI marker in mission planner that is used for orientation of a multicopter during the entire mission. Now it only influences the first waypoint following the DO_SET_ROI command. For the rest of the mission yaw is directed at the next waypoint. Is this by design or a bug?

[rmackay9]

(1) - where on the wiki did you see this? This is the new wiki by the way: http://copter.ardupilot.com/wiki/introduction/
(2) is the normal behaviour for a do or conditional command. They are only active for the period between waypoints. We could change that I suppose..

[HeliHenkie]

Randy,

#1: In the new wiki, on the page about planning missions with waypoints and events, a table is posted with 4 options that control/influence yaw behaviour. Directly below the explanation of the DO_SET_ROI command. At least it's my interpretation the options can be used for that purpose.
#2: several users posted their problems/success with ROI. In one of the posts it was suggested that it's possible to use one ROI marker that overrides yaw behaviour during the entire mission. From my view that would be a nice option. Especially because editing extra ROI markers on 1 position in Notepad is somewhat of a nuisance.

Best regards,

Jan Willem
The Netherlands

Verstuurd vanaf mijn iPad

Op 25 sep. 2013 om 12:30 heeft Randy Mackay notifications@github.com het volgende geschreven:

#1 - where on the wiki did you see this? This is the new wiki by the way: http://copter.ardupilot.com/wiki/introduction/
#2 is the normal behaviour for a do or conditional command. They are only active for the period between waypoints. We could change that I suppose..

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[CptFrazz]

I have the same problem running AC3.1-Rc2.

For me if I set ROI after several waypoints it stop executing any more waypoints or commands, it loops forever in loiter.

When using Do_Set_ROI I have the same "issue" as mentioned above. After setting Do_Set_ROI it points to the ROI location, however on the next WP command it goes back to pointing to the next waypoint. I have to set WP, Do_Set_ROI, WP, Do_Set_ROI alternating like that doubling up the commands for ROI to work, and I don't think that is the intended way for it to be controlled/set.

I see in the description of So_Set_ROI that there is an option 0 - 4 for setting the YAW behaviour. http://planner.ardupilot.com/wiki/common-planning-a-mission-with-waypoints-and-events/
However no one has been able to tell me where or how to set these options?

I don't think the Do_Set_ROI needs to change in the way it works (the one-shot part) as there seems to be a valid set of options in the command to control yaw behaviour? Unless I am misreading that and those options are also intended to be one-shot?

edit:
http://www.youtube.com/watch?v=wj2MRW7OkQY

Unfortunately you can't see the commands above the WP ones, but here on the Mission Planner you can see a single ROI point, and no one is setting Do_Set_ROI after each waypoint. I would think this is the way ROI is intended to work?

[msk7-ripe]

I'd like to add ROI and YAW direction, when intentionally set, should persist across WPs in yaw mode == 0 (never change yaw). Or shall we make special mode. So, when planning missions you may fly through one part of it (multiple WPs) with first ROI or YAW direction, then change ROI or YAW, fly next part and so on. May be it would be good to add ability to change WP_YAW_BEHAVIOR in flight for example by passing negative numbers to CONDITION_YAW. If one makes missions containing ROI or YAW commands it's goal is usually photography of filming. And when you're filming, you never want camera to travel straight lines.

[rdbahm]

I can confirm that I get the same problem as well. I performed an automatic mission where I needed to keep my quadcopter (running APM:C 3.1rc5) pointed the same direction. I attempted to accomplish this by using DO_SET_ROI with the option set to "0" per the wiki: http://copter.ardupilot.com/wiki/common-planning-a-mission-with-waypoints-and-events/#Basic_waypoint_commands-2 so that it would maintain orientation. However, it only persisted for one waypoint, then continued to point at the next waypoint.

According to the wiki, DO_SET_ROI should persist until the APM is rebooted.

[rmackay9]

Ok, I've removed the incorrect information from that wiki page. txs!

[chapman]

If we were to make ROI persistent between waypoints, we would also need some mechanism for cancelling it, i.e. to return to the default yaw behaviour as specified by WP_YAW_BEHAVIOR.

[britdavis]

^^ adding to the comment above, we would also need to understand how, if a persistent ROI is implemented, what would happen when encountering LOITER_TURNS. I'd suspect it would cancel the ROI, and one would have to add another DO_SET_ROI to reestablish it if desired.

[rmackay9]

The ROI behaviour has been changed in master now so that it's persistent across waypoints. You can revert the yaw behaviour to the default (i.e. face towards next waypoint) by providing an all zero ROI command. This should go out with AC3.2 but it also needs to be tested before then.

[TermicOne]

This is a great news Randy! Thanks!
I was using ROI since v. 2.9 (...was working great)
http://www.youtube.com/watch?v=AFrizfBrgok
If you need a beta tester for the new ROI function I'm available... :)

Luciano

[rmackay9]

I'm going to close this item because it's fixed in master. I'll be coming up with a to-be-tested list once the AC3.2 release candidate is ready. I expect the first release candidate will be out in about a month (could be less).

[ryancoxey]

Was this ever fixed? I would REALLY like it to be. I am still using AC 3.1 and am sick of plugging a ROI between every waypoint.

[TermicOne]

I'm going to test it this week. I let you know.... :)

Luciano

-------- Messaggio originale --------
Da: ryancoxey notifications@github.com
Data:13/05/2014 03:21 (GMT+01:00)
A: diydrones/ardupilot ardupilot@noreply.github.com
Cc: TermicOne lucianozanchi@yahoo.it
Oggetto: Re: [ardupilot] ArduCopter: make ROI persistent across waypoints
(#569)

Was this ever fixed? I would REALLY like it to be. I am still using AC 3.1 and am sick of plugging a ROI between every waypoint.

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