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…o previous This fixes an issue where the speed was not correctly set at the beginning of a survey (with first wp having a DO_CHANGE_SPEED attached) when the user paused and resumed the mission prior to reaching the first waypoint. Signed-off-by: Silvan Fuhrer <[email protected]>
StefanoColli
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Mar 11, 2025
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Nice catch! There is only a small typo to be corrected
Co-authored-by: Stefano Colli <[email protected]>
StefanoColli
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Mar 11, 2025
mrpollo
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Nov 24, 2025
…o previous (#24484) * MissionBase: replay change speed on resume immediately if not going to previous This fixes an issue where the speed was not correctly set at the beginning of a survey (with first wp having a DO_CHANGE_SPEED attached) when the user paused and resumed the mission prior to reaching the first waypoint. Signed-off-by: Silvan Fuhrer <[email protected]> * Update src/modules/navigator/mission_base.cpp Co-authored-by: Stefano Colli <[email protected]> --------- Signed-off-by: Silvan Fuhrer <[email protected]> Co-authored-by: Stefano Colli <[email protected]>
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Solved Problem
This fixes an issue where the speed was not correctly set at the beginning of a survey (with first wp having a DO_CHANGE_SPEED attached) when the user paused and resumed the mission prior to reaching the first waypoint.
See following screen recording: mission is paused before reaching the survey, and on resume the survey speed is not applied.
AMC_change_speed_prior_survey.mp4
Digging further down: when resuming the mission, the previous DO_CHANGE_SPEED are not immediately replayed but only once the next waypoint is reached. In the case here, this coincides with the next DO_CHANGE_SPEED (12) of the survey, which is thus overwritten by the previous DO_CHANGE_SPEED (5), and the survey is flown at 5m/s instead of 12.
Solution
Replay DO_CHANGE_SPEED setpoints immediately on mission resume unless the vehicle first has to go back to previous waypoint.
Changelog Entry
For release notes:
Test coverage
SITL tests with quad and survey pattern (which has a different mission speed defined as rest of mission).
Context
This is a follow up to #23484.