I have my blueboat running a simple square waypoint mission. When I change WP_SPEED from 1 knot to say 2 knots i don’t see a noticeable speed difference.
Similarly, if I change CRUISE_SPEED, nothing really happens either.
What is the difference between those two parameters? What parameter do I need to modify to change the blueboats speed during a mission. Also - will that speed change immediately, or does it need to get to the next waypoint first?
I have a small python program which changes those parameters when the Xbox D-pad up/down buttons are pressed:
Hi @CA_BlueBoat -
You may find that you need to go to manual mode, and back to auto for WP_Speed to affect the navigation speed! If that doesn’t do the trick, try and disssarm / re-arm?
Hi Tony,
Thanks for the reply. you are correct. It has to get out of auto mode into manual mode, then it will accept the new WP_SPEED parameter.
I think in my program i can easily switch modes quickly so the new speed will be updated. - kind of a dumb ardupilot thing, it would be nice to update the speed on the fly.
Parameters are just data that the autopilot can use to base its decisions on. My understanding is that once the controller targets have been set (e.g. when AUTO mode is entered, or a waypoint is reached and the next one starts being navigated towards) the waypoint parameters are no longer relevant to the current action, because the relevant decisions have already been made.
If you want to update the speed live then you’ll need to request/get the existing targets and set new ones as relevant, which would then apply until the next controller update (e.g. when a waypoint is reached).
If you’re writing custom control code for this then you could update the relevant parameter at the same time as you update the target, if you want the change to also be continued throughout the rest of the mission.
If you happen to be using Cockpit, this could instead be done using a Custom Action, and triggered directly as the relevant joystick button functions. You could also set up a slider for controlling the speed (using the same Action), if that’s helpful.
Thanks for the reply. I think for now quickly swapping from auto → manual → auto mode again to refresh the speed will work for me. I don’t want this to become a big project.
