The documentation says that mission resumes from current waypoint if it was not capturing images and from previous waypoint if it has camera trigger items. What if distance between two waypoint is big and mission is paused at half way. Next time I would like the drone reaches position where mission was paused and resume his mission from this position (not next/prev waypoint). How I can achieve this? Can you give some advices about code I have to modify?
By default PX4 only resumes from the last waypoint boundary (or the last camera trigger point), it doesn’t remember an arbitrary “pause position.” To get exactly what you want (resume from the mid-segment point), you’d need to add logic in the mission code to store the vehicle’s position when you pause and then inject that back as a new temporary waypoint when resuming. Look at mission.cpp where resume_mission() handles waypoint index selection — you’d have to extend it to create a synthetic waypoint at the pause location and continue from there.
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