HELP: Resuming Auto Mode Mission after entering Guided Mode

[rethna30]

Hello everyone!

I've been working on some modifications on Mission Planner to support Guided Mode by having a text area for entering GPS coordinate of targets and hitting a button to activate it....without having to click on the "Fly to Here" option on the map. I'm using Arducopter 3.1.2.

So far, I've managed to make it work. But, I need to use it during an Autonomous Mission. I have to intercept the mission > Go to the target > then resume the autonomous mission from where it left off. But, when I switch back to auto, it is restarting from first waypoint. Is there any specific button on Mission Planner which I can use to resume the mission? Because it has been mentioned in the following link (last line) that,

http://copter.ardupilot.com/wiki/common-mission-planner-ground-control-station/

"If you change to Auto your mission will resume where it left off."

How to achieve this? Please do guide me. Thank you.

[britdavis]

I think Auto missions do not resume; they only restart if interrupted.

[rethna30]

Hi! I've managed to come up with own solution for it. We edited the Mission Planner and added some extra script to support intercept > command to go to a custom target waypoint > continue to the next waypoint in initial plan. We've tested it and it worked like charm during our competition. ;)

Basically, I came to know about SET WP command where we are able to select the waypoints and copter will jump to that waypoint and continue mission from there basically.

I manipulated it such that.. I placed my target waypoints after the LAND command in the auto mission. Then added a script to SET WP to my target waypoint when commanded and immediately once reached it will automatically send command to vehicle from ground to proceed to the next waypoint in the original trajectory also using the SET WP command.

:)

http://diydrones.com/forum/topics/pause-and-resume-auto-mode-mission-after-entering-guided-mode?xg_source=activity

[rmackay9]

I'm going to close this if that's ok.
AC3.2. supports resuming auto missions by the way. It's very similar to the feature that Plane has had for some time.