How to set Ardupilot fixed wing drone to loiter in the middle of a mission

[mfran89]

Hi team,

I am currently using a Audrupilot system with mavsdk 1.3.1 and server 1.3.2. I wanted to know what the best approach was to start a mission (setting mode to "AUTO") followed by pausing the mission and then resuming while the drone is in the air.

From what I have gathered from the documentation by using the system object I can something like the following to start the mission
drone.getMissionRaw().startMission();

Then if I want to pause or loiter during the mission I saw these functions:

drone.getAction().hold
drone.getMission().pauseMission()

Which is is better? From what I understand the hold() might be geared more towards the PX4 firmware as opposed to the Ardupilot firmware.

Finally when I want to resume the mission is it best to just use the the startMission() function again, or is there a resume a better way to resume the mission ?

Appreciate any help I can get.

[JonasVautherin]

The truth is in the C++ implementation 😊.

hold sets the mode to FlightMode::Hold, and pause_mission... does the same thing 😁. I would say that it depends on what makes your code more readable (I guess pauseMission() makes more sense in the context of a mission.

start_mission sets the mode to FlightMode::Mission, so it should just resume the mission, I would think.

[mfran89]

Thanks sounds good to me, for now I will use pauseMission and startMission it looks good to me via MissionPlanner .