updated test mission. It now passes the tests. Be sure to verify things are working well before flying.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1843 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -4,7 +4,7 @@
 
 // GPS is auto-selected
 
-#define GCS_PROTOCOL        GCS_PROTOCOL_NONE
+//#define GCS_PROTOCOL        GCS_PROTOCOL_NONE
 //#define GCS_PORT 0
 
 #define SERIAL0_BAUD			38400

ArduCopterMega/ArduCopterMega.pde

@@ -324,7 +324,7 @@ int		loiter_total; 						// deg : how many times to loiter * 360
 int 	loiter_delta;						// deg : how far we just turned
 int		loiter_sum;							// deg : how far we have turned around a waypoint
 long 	loiter_time;						// millis : when we started LOITER mode
-int 	loiter_time_max;					// millis : how long to stay in LOITER mode
+long 	loiter_time_max;					// millis : how long to stay in LOITER mode
 
 // these are the values for navigation control functions
 // ----------------------------------------------------
@@ -574,6 +574,10 @@ void medium_loop()
 				// calculate the copter's desired bearing and WP distance
 				// ------------------------------------------------------
 				navigate();
+
+				// control mode specific updates to nav_bearing
+				// --------------------------------------------
+				update_navigation();
 			}
 
 			// we call these regardless of GPS because of the rapid nature of the yaw sensor

ArduCopterMega/commands.pde

@@ -9,20 +9,22 @@ void init_commands()
 	next_command.id 	= CMD_BLANK;
 }
 
-void update_auto()
+void init_auto()
 {
 	if (g.waypoint_index == g.waypoint_total) {
+		Serial.println("ia_f");
 		do_RTL();
 	}
 }
 
 // this is only used by an air-start
-void reload_commands_airstart()
+/*void reload_commands_airstart()
 {
 	init_commands();
 	g.waypoint_index.load();        // XXX can we assume it's been loaded already by ::load_all?
 	decrement_WP_index();
 }
+*/
 
 // Getters
 // -------

ArduCopterMega/commands_logic.pde

@@ -101,22 +101,23 @@ void handle_process_now()
 			do_repeat_relay();
 			break;
 
-        case MAV_CMD_NAV_ORIENTATION_TARGET:
-            do_target_yaw();
+		case MAV_CMD_NAV_ORIENTATION_TARGET:
+			do_target_yaw();
 	}
 }
 
-void handle_no_commands()
+bool handle_no_commands()
 {
 	if (command_must_ID)
-		return;
+		return false;
 
 	switch (control_mode){
 
 		default:
-			set_mode(RTL);
+			//set_mode(RTL);
 			break;
 	}
+	return true;
 }
 
 /********************************************************************************/
@@ -125,6 +126,8 @@ void handle_no_commands()
 
 bool verify_must()
 {
+	Serial.printf("vmust ::%d", nav_throttle);
+
 	switch(command_must_ID) {
 
 		case MAV_CMD_NAV_TAKEOFF:
@@ -190,14 +193,14 @@ bool verify_may()
 }
 
 /********************************************************************************/
-//  Nav (Must) commands
+//	Nav (Must) commands
 /********************************************************************************/
 
 void do_RTL(void)
 {
-	control_mode 	= LOITER;
-	Location temp 	= home;
-	temp.alt 		= read_alt_to_hold();
+	control_mode	= LOITER;
+	Location temp	= home;
+	temp.alt		= read_alt_to_hold();
 
 	//so we know where we are navigating from
 	next_WP = current_loc;
@@ -215,9 +218,12 @@ void do_RTL(void)
 
 void do_takeoff()
 {
-	Location temp 		= current_loc;
-	temp.alt			= next_command.alt;
-	takeoff_complete 	= false;			// set flag to use g_gps ground course during TO.  IMU will be doing yaw drift correction
+	Location temp		= current_loc;
+	temp.alt			+= next_command.alt;
+	takeoff_complete	= false;			// set flag to use g_gps ground course during TO.  IMU will be doing yaw drift correction
+
+	Serial.print("dt ");
+	Serial.println(temp.alt,DEC);
 
 	set_next_WP(&temp);
 }
@@ -229,63 +235,86 @@ void do_nav_wp()
 
 void do_land()
 {
-	land_complete 		= false;			// set flag to use g_gps ground course during TO.  IMU will be doing yaw drift correction
-	velocity_land		= 1000;
+	Serial.println("dlnd ");
+	land_complete		= false;			// set flag to use g_gps ground course during TO.  IMU will be doing yaw drift correction
+	velocity_land		= 2000;
 
-	Location temp 		= current_loc;
-	//temp.alt 			= home.alt;
-	temp.alt 			= -1000;
+	Location temp		= current_loc;
+	//temp.alt			= home.alt;
+	// just go down far
+	temp.alt			= -100000;
 
 	set_next_WP(&temp);
 }
 
 void do_loiter_unlimited()
 {
-	set_next_WP(&next_command);
+	Serial.println("dloi ");
+	if(next_command.lat == 0)
+		set_next_WP(&current_loc);
+	else
+		set_next_WP(&next_command);
 }
 
 void do_loiter_turns()
 {
-	set_next_WP(&next_command);
+	if(next_command.lat == 0)
+		set_next_WP(&current_loc);
+	else
+		set_next_WP(&next_command);
+
 	loiter_total = next_command.p1 * 360;
 }
 
 void do_loiter_time()
 {
-	set_next_WP(&next_command);
-	loiter_time = millis();
-	loiter_time_max = next_command.p1; // units are (seconds * 10)
+	if(next_command.lat == 0)
+		set_next_WP(&current_loc);
+	else
+		set_next_WP(&next_command);
+
+	loiter_time 	= millis();
+	loiter_time_max = next_command.p1 * 1000; // units are (seconds)
+	Serial.printf("dlt %ld, max %ld\n",loiter_time, loiter_time_max);
 }
 
 /********************************************************************************/
-//  Verify Nav (Must) commands
+//	Verify Nav (Must) commands
 /********************************************************************************/
 
 bool verify_takeoff()
 {
+	Serial.print("vt ");
 	if (current_loc.alt > next_WP.alt){
+		Serial.println("Y");
 		takeoff_complete = true;
 		return true;
 	}else{
+		Serial.println("N");
 		return false;
 	}
 }
 
 bool verify_land()
 {
+	Serial.print("vlnd ");
 	velocity_land  = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
 	old_alt = current_loc.alt;
 
-   	if(g.sonar_enabled){
+	if(g.sonar_enabled){
 		// decide which sensor we're usings
 		if(sonar_alt < 20){
-    		land_complete = true;
-	    	return true;
-	    }
-    } else {
-		//land_complete = true;
-		//return true;
-    }
+			land_complete = true;
+			Serial.println("Y");
+			return true;
+		}
+	}
+
+	if(velocity_land <= 0)
+		land_complete = true;
+		return true;
+	}
+	Serial.printf("N, %d\n", velocity_land);
 
 	//update_crosstrack();
 	return false;
@@ -318,8 +347,11 @@ bool verify_loiter_unlim()
 
 bool verify_loiter_time()
 {
-	if ((millis() - loiter_time) > (long)loiter_time_max * 10000l) {		// scale loiter_time_max from (sec*10) to milliseconds
+	Serial.printf("vlt %ld\n",(millis() - loiter_time));
+
+	if ((millis() - loiter_time) > loiter_time_max) {		// scale loiter_time_max from (sec*10) to milliseconds
 		gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
+		Serial.println("vlt done");
 		return true;
 	}
 	return false;
@@ -336,44 +368,47 @@ bool verify_RTL()
 }
 
 /********************************************************************************/
-//  Condition (May) commands
+//	Condition (May) commands
 /********************************************************************************/
 
 void do_wait_delay()
 {
+	Serial.print("dwd ");
 	condition_start = millis();
-	condition_value  = next_command.lat * 1000;	// convert to milliseconds
+	condition_value	 = next_command.lat * 1000; // convert to milliseconds
+	Serial.println(condition_value,DEC);
 }
 
 void do_change_alt()
 {
-	Location temp 	= next_WP;
+	Location temp	= next_WP;
 	condition_start = current_loc.alt;
 	condition_value = next_command.alt + home.alt;
-	temp.alt 		= condition_value;
+	temp.alt		= condition_value;
 	set_next_WP(&temp);
 }
 
 void do_within_distance()
 {
-	condition_value  = next_command.lat;
+	condition_value	 = next_command.lat;
 }
 
 void do_yaw()
 {
-    yaw_tracking = TRACK_NONE;
+	Serial.println("dyaw ");
+	yaw_tracking = TRACK_NONE;
 
 	// target angle in degrees
 	command_yaw_start		= nav_yaw; // current position
-	command_yaw_start_time 	= millis();
+	command_yaw_start_time	= millis();
 
-	command_yaw_dir		    = next_command.p1;      // 1 = clockwise,    0 = counterclockwise
-	command_yaw_relative    = next_command.lng;     // 1 = Relative,     0 = Absolute
+	command_yaw_dir			= next_command.p1;		// 1 = clockwise,	 0 = counterclockwise
+	command_yaw_relative	= next_command.lng;		// 1 = Relative,	 0 = Absolute
 
-	command_yaw_speed   	= next_command.lat * 100;
+	command_yaw_speed		= next_command.lat * 100; // ms * 100
 
 
-	// if unspecified go 10° a second
+	// if unspecified go 60° a second
 	if(command_yaw_speed == 0)
 		command_yaw_speed = 6000;
 
@@ -383,40 +418,34 @@ void do_yaw()
 
 	if (command_yaw_relative){
 		// relative
-		//command_yaw_dir     = (command_yaw_end > 0) ? 1 : -1;
-		//command_yaw_end     += nav_yaw;
-		//command_yaw_end     = wrap_360(command_yaw_end);
-		command_yaw_delta   = next_command.alt * 100;
+		//command_yaw_dir	  = (command_yaw_end > 0) ? 1 : -1;
+		//command_yaw_end	  += nav_yaw;
+		//command_yaw_end	  = wrap_360(command_yaw_end);
+		command_yaw_delta	= next_command.alt * 100;
 	}else{
 		// absolute
-		command_yaw_end 	= next_command.alt * 100;
-
-        // calculate the delta travel in deg * 100
-        if(command_yaw_dir == 1){
-            if(command_yaw_start >= command_yaw_end){
-                command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end);
-            }else{
-                command_yaw_delta = command_yaw_end - command_yaw_start;
-            }
-        }else{
-            if(command_yaw_start > command_yaw_end){
-                command_yaw_delta = command_yaw_start - command_yaw_end;
-            }else{
-                command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end);
-            }
-        }
-    	command_yaw_delta = wrap_360(command_yaw_delta);
+		command_yaw_end		= next_command.alt * 100;
+
+		// calculate the delta travel in deg * 100
+		if(command_yaw_dir == 1){
+			if(command_yaw_start >= command_yaw_end){
+				command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end);
+			}else{
+				command_yaw_delta = command_yaw_end - command_yaw_start;
+			}
+		}else{
+			if(command_yaw_start > command_yaw_end){
+				command_yaw_delta = command_yaw_start - command_yaw_end;
+			}else{
+				command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end);
+			}
+		}
+		command_yaw_delta = wrap_360(command_yaw_delta);
 	}
 
 
 	// rate to turn deg per second - default is ten
-	command_yaw_time 	= command_yaw_delta / command_yaw_speed;
-	command_yaw_time    *= 1000;
-
-
-    //
-	//9000 turn in 10 seconds
-	//command_yaw_time = 9000/ 10 = 900° per second
+	command_yaw_time	= (command_yaw_delta / command_yaw_speed) * 1000;
 }
 
 
@@ -426,10 +455,13 @@ void do_yaw()
 
 bool verify_wait_delay()
 {
+	Serial.print("vwd");
 	if ((millis() - condition_start) > condition_value){
-		condition_value 	= 0;
+		Serial.println("y");
+		condition_value		= 0;
 		return true;
 	}
+	Serial.println("n");
 	return false;
 }
 
@@ -462,9 +494,13 @@ bool verify_within_distance()
 
 bool verify_yaw()
 {
+	Serial.print("vyaw ");
+
 	if((millis() - command_yaw_start_time) > command_yaw_time){
 		// time out
+		// make sure we hold at the final desired yaw angle
 		nav_yaw = command_yaw_end;
+		Serial.println("Y");
 		return true;
 
 	}else{
@@ -472,23 +508,24 @@ bool verify_yaw()
 		// power is a ratio of the time : .5 = half done
 		float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
 
-		nav_yaw 	= command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
-		nav_yaw     = wrap_360(nav_yaw);
+		nav_yaw		= command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
+		nav_yaw		= wrap_360(nav_yaw);
+		Serial.printf("ny %ld\n",nav_yaw);
 		return false;
 	}
 }
 
 /********************************************************************************/
-//  Do (Now) commands
+//	Do (Now) commands
 /********************************************************************************/
 
 void do_target_yaw()
 {
-    yaw_tracking = next_command.p1;
+	yaw_tracking = next_command.p1;
 
-    if(yaw_tracking & TRACK_TARGET_WP){
-        target_WP = next_command;
-    }
+	if(yaw_tracking & TRACK_TARGET_WP){
+		target_WP = next_command;
+	}
 }
 
 void do_loiter_at_location()
@@ -501,10 +538,10 @@ void do_jump()
 	struct Location temp;
 	if(next_command.lat > 0) {
 
-		command_must_index 	= 0;
-		command_may_index 	= 0;
-		temp 				= get_wp_with_index(g.waypoint_index);
-		temp.lat 			= next_command.lat - 1;					// Decrement repeat counter
+		command_must_index	= 0;
+		command_may_index	= 0;
+		temp				= get_wp_with_index(g.waypoint_index);
+		temp.lat			= next_command.lat - 1;					// Decrement repeat counter
 
 		set_wp_with_index(temp, g.waypoint_index);
 		g.waypoint_index.set_and_save(next_command.p1 - 1);
@@ -516,10 +553,10 @@ void do_set_home()
 	if(next_command.p1 == 1) {
 		init_home();
 	} else {
-		home.id 	= MAV_CMD_NAV_WAYPOINT;
-		home.lng 	= next_command.lng;				// Lon * 10**7
-		home.lat 	= next_command.lat;				// Lat * 10**7
-		home.alt 	= max(next_command.alt, 0);
+		home.id		= MAV_CMD_NAV_WAYPOINT;
+		home.lng	= next_command.lng;				// Lon * 10**7
+		home.lat	= next_command.lat;				// Lat * 10**7
+		home.alt	= max(next_command.alt, 0);
 		home_is_set = true;
 	}
 }
@@ -546,10 +583,10 @@ void do_repeat_servo()
 
 	if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) {
 
-		event_timer 	= 0;
-		event_delay 	= next_command.lng * 500.0;	// /2 (half cycle time) * 1000 (convert to milliseconds)
-		event_repeat 	= next_command.lat * 2;
-		event_value 	= next_command.alt;
+		event_timer		= 0;
+		event_delay		= next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
+		event_repeat	= next_command.lat * 2;
+		event_value		= next_command.alt;
 
 		switch(next_command.p1) {
 			case CH_5:
@@ -571,9 +608,9 @@ void do_repeat_servo()
 
 void do_repeat_relay()
 {
-	event_id 		= RELAY_TOGGLE;
-	event_timer 	= 0;
-	event_delay 	= next_command.lat * 500.0;	// /2 (half cycle time) * 1000 (convert to milliseconds)
+	event_id		= RELAY_TOGGLE;
+	event_timer		= 0;
+	event_delay		= next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
 	event_repeat	= next_command.alt * 2;
 	update_events();
 }

ArduCopterMega/commands_process.pde

@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// called by 10 Hz loop
-// --------------------
+// called by 10 Hz Medium loop
+// ---------------------------
 void update_commands(void)
 {
 	// This function loads commands into three buffers
@@ -38,12 +38,13 @@ void load_next_command_from_EEPROM()
 	}
 
 	// If the preload failed, return or just Loiter
-	// generate a dynamic command for RTL
 	// --------------------------------------------
 	if(next_command.id == NO_COMMAND){
+		Serial.println("lnc_nc");
 		// we are out of commands!
-		gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
-		handle_no_commands();
+		if(handle_no_commands() == true){
+			gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
+		}
 	}
 }
 
@@ -57,10 +58,10 @@ void process_next_command()
 			//save_command_index();			// TO DO - fix - to Recover from in air Restart
 			command_must_index = g.waypoint_index;
 
-			//SendDebug("MSG <process_next_command> new command_must_id ");
-			//SendDebug(next_command.id,DEC);
-			//SendDebug(" index:");
-			//SendDebugln(command_must_index,DEC);
+			SendDebug("MSG <pnc> new c_must_id ");
+			SendDebug(next_command.id,DEC);
+			SendDebug(" index:");
+			SendDebugln(command_must_index,DEC);
 			if (g.log_bitmask & MASK_LOG_CMD)
 				Log_Write_Cmd(g.waypoint_index, &next_command);
 			process_must();
@@ -73,8 +74,8 @@ void process_next_command()
 		if (next_command.id > MAV_CMD_NAV_LAST && next_command.id < MAV_CMD_CONDITION_LAST ){
 			increment_WP_index();		// this command is from the command list in EEPROM
 			command_may_index = g.waypoint_index;
-				//SendDebug("MSG <process_next_command> new command_may_id ");
-				//SendDebug(next_command.id,DEC);
+				SendDebug("MSG <pnc> new may ");
+				SendDebugln(next_command.id,DEC);
 				//Serial.print("new command_may_index ");
 				//Serial.println(command_may_index,DEC);
 			if (g.log_bitmask & MASK_LOG_CMD)
@@ -86,8 +87,9 @@ void process_next_command()
 		// ---------------------------
 		if (next_command.id > MAV_CMD_CONDITION_LAST){
 			increment_WP_index();		// this command is from the command list in EEPROM
-				//SendDebug("MSG <process_next_command> new command_now_id ");
-				//SendDebug(next_command.id,DEC);
+				SendDebug("MSG <pnc> new now ");
+				SendDebugln(next_command.id,DEC);
+
 			if (g.log_bitmask & MASK_LOG_CMD)
 				Log_Write_Cmd(g.waypoint_index, &next_command);
 			process_now();
@@ -100,8 +102,9 @@ void process_next_command()
 /**************************************************/
 void process_must()
 {
-	gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
-	gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
+	//gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
+	//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
+	Serial.printf("pmst %d\n", (int)next_command.id);
 
 	// clear May indexes
 	command_may_index	= NO_COMMAND;
@@ -117,8 +120,9 @@ void process_must()
 
 void process_may()
 {
-	gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
-	gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
+	//gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
+	//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
+	Serial.print("pmay");
 
 	command_may_ID = next_command.id;
 	handle_process_may();
@@ -130,13 +134,14 @@ void process_may()
 
 void process_now()
 {
+	Serial.print("pnow");
 	handle_process_now();
 
 	// invalidate command so a new one is loaded
 	// -----------------------------------------
 	next_command.id = NO_COMMAND;
 
-	gcs.send_text_P(SEVERITY_LOW, PSTR("<process_now>"));
-	gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
+	//gcs.send_text_P(SEVERITY_LOW, PSTR("<process_now>"));
+	//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
 }
 

ArduCopterMega/defines.h

@@ -114,7 +114,7 @@
 #define RELAY_TOGGLE 5
 #define STOP_REPEAT 10
 
-#define MAV_CMD_CONDITION_YAW 23
+//#define MAV_CMD_CONDITION_YAW 23
 
 //  GCS Message ID's
 #define MSG_ACKNOWLEDGE 0x00

ArduCopterMega/navigation.pde

@@ -45,10 +45,6 @@ void navigate()
 	if (loiter_delta > 180) loiter_delta -= 360;
 	if (loiter_delta < -180) loiter_delta += 360;
 	loiter_sum += abs(loiter_delta);
-
-	// control mode specific updates to nav_bearing
-	// --------------------------------------------
-	update_navigation();
 }
 
 #define DIST_ERROR_MAX 1800

ArduCopterMega/setup.pde

@@ -799,7 +799,7 @@ void print_wp(struct Location *cmd, byte index)
 
 void report_current()
 {
-	read_EEPROM_current();
+	//read_EEPROM_current();
 	Serial.printf_P(PSTR("Current \n"));
 	print_divider();
 	print_enabled(g.current_enabled.get());
@@ -859,7 +859,7 @@ void report_radio()
 	Serial.printf_P(PSTR("Radio\n"));
 	print_divider();
 	// radio
-	read_EEPROM_radio();
+	//read_EEPROM_radio();
 	print_radio_values();
 	print_blanks(2);
 }
@@ -869,7 +869,8 @@ void report_gains()
 	Serial.printf_P(PSTR("Gains\n"));
 	print_divider();
 
-	read_EEPROM_PID();
+	//read_EEPROM_PID();
+
 	// Acro
 	Serial.printf_P(PSTR("Acro:\nroll:\n"));
 	print_PID(&g.pid_acro_rate_roll);
@@ -906,7 +907,7 @@ void report_xtrack()
 	Serial.printf_P(PSTR("XTrack\n"));
 	print_divider();
 	// radio
-	read_EEPROM_nav();
+	//read_EEPROM_nav();
 	Serial.printf_P(PSTR("XTRACK: %4.2f\n"
 						 "XTRACK angle: %d\n"
 						 "PITCH_MAX: %ld"),
@@ -921,7 +922,7 @@ void report_throttle()
 	Serial.printf_P(PSTR("Throttle\n"));
 	print_divider();
 
-	read_EEPROM_throttle();
+	//read_EEPROM_throttle();
 	Serial.printf_P(PSTR("min: %d\n"
 						 "max: %d\n"
 						 "cruise: %d\n"

ArduCopterMega/system.pde

@@ -227,6 +227,9 @@ void startup_ground(void)
 
 	setup_show(NULL,NULL);
 
+	// setup up PID value max
+	init_pids();
+
 	// Output waypoints for confirmation
 	// --------------------------------
 	for(int i = 1; i < g.waypoint_total + 1; i++) {
@@ -315,7 +318,7 @@ void set_mode(byte mode)
 			break;
 
 		case AUTO:
-			update_auto();
+			init_auto();
 			break;
 
 		case SIMPLE:

ArduCopterMega/test.pde

@@ -736,7 +736,7 @@ static int8_t
 test_wp(uint8_t argc, const Menu::arg *argv)
 {
 	delay(1000);
-	read_EEPROM_waypoint_info();
+	//read_EEPROM_waypoint_info();
 
 
 	// save the alitude above home option
@@ -917,8 +917,8 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
 static int8_t
 test_mission(uint8_t argc, const Menu::arg *argv)
 {
-	print_hit_enter();
-	delay(1000);
+	//print_hit_enter();
+	//delay(1000);
 	//write out a basic mission to the EEPROM
 	Location t;
 /*{
@@ -938,12 +938,12 @@ test_mission(uint8_t argc, const Menu::arg *argv)
 	{Location t = {MAV_CMD_NAV_TAKEOFF,   		0,      0, 		300, 		0, 			0};
 	set_wp_with_index(t,1);}
 
-	// CMD										opt		   					time/ms
-	{Location t = {MAV_CMD_CONDITION_DELAY,   	0,      0, 		0, 			3000, 		0};
+	// CMD										opt		time/s
+	{Location t = {MAV_CMD_NAV_LOITER_TIME,   	0,      15, 		0, 			0, 		0};
 	set_wp_with_index(t,2);}
 
-	// CMD										opt		dir		angle/deg	time/ms		relative
-	{Location t = {MAV_CMD_CONDITION_YAW,		0,      1, 		360, 		1000, 		1};
+	// CMD										opt		dir		angle/deg	deg/s		relative
+	{Location t = {MAV_CMD_CONDITION_YAW,		0,      1, 		360, 		60, 		1};
 	set_wp_with_index(t,3);}
 
 	// CMD										opt