ArduPilot/ardupilot

Copter: implement Circle within Guided (aka LOITER_TURNS)

Open

#13,464 opened on Feb 3, 2020

View on GitHub
 (7 comments) (3 reactions) (0 assignees)C++ (15,603 forks)batch import
CopterEnhancementgood first issue

Repository metrics

Stars
 (9,336 stars)
PR merge metrics
 (Avg merge 26d 16h) (166 merged PRs in 30d)

Description

This enhancement request comes from this discussion: https://discuss.ardupilot.org/t/copter-not-supporting-mav-cmd-nav-loiter-turns-question/51785

The request is to implement Circle mode (aka LOITER_TURNS) from within Guided mode.

Support for LOITER_TURNS is already implemented in Auto mode so this should be possible.

Contributor guide

Research direction
Examine the existing LOITER TURNS implementation in Auto mode (AC Auto.cpp) and adapt it for Guided mode. Focus on the command handling in GCS Mavlink.cpp and the mode logic in Copter.cpp.
Tech stack
cpp
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++ArduPilot architectureGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
30