{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/2921","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2921/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2921/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2921/events","html_url":"https://github.com/diydrones/ardupilot/issues/2921","id":109202986,"number":2921,"title":"Plane: inhibit switching to land_approach stage until additional criteria is met","user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Flight%20Behavior","name":"Flight Behavior","color":"006b75"},{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Plane","name":"Plane","color":"d7e102"}],"state":"open","locked":false,"assignee":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"milestone":null,"comments":5,"created_at":"2015-09-30T23:51:56Z","updated_at":"2015-10-01T07:05:41Z","closed_at":null,"body":"When reaching the usual land approach waypoint, inhibit switching to FLIGHT_LAND_APPROACH until certain criteria is met:\r\n\r\n- next waypoint is LAND (already implemented)\r\n- target_bearing is +/- 10 deg of actual_bearing\r\n- have progressed forward along path by at least 5%"},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/144639276","html_url":"https://github.com/diydrones/ardupilot/issues/2921#issuecomment-144639276","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2921","id":144639276,"user":{"login":"iskess","id":4913946,"avatar_url":"https://avatars.githubusercontent.com/u/4913946?v=3","gravatar_id":"","url":"https://api.github.com/users/iskess","html_url":"https://github.com/iskess","followers_url":"https://api.github.com/users/iskess/followers","following_url":"https://api.github.com/users/iskess/following{/other_user}","gists_url":"https://api.github.com/users/iskess/gists{/gist_id}","starred_url":"https://api.github.com/users/iskess/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/iskess/subscriptions","organizations_url":"https://api.github.com/users/iskess/orgs","repos_url":"https://api.github.com/users/iskess/repos","events_url":"https://api.github.com/users/iskess/events{/privacy}","received_events_url":"https://api.github.com/users/iskess/received_events","type":"User","site_admin":false},"created_at":"2015-10-01T07:05:41Z","updated_at":"2015-10-01T07:05:41Z","body":"Thanks Tom, that's all I meant by a work around. Just manually adding an extra WP in the flight plan. I haven't tried it yet, but I'm hopeful it will help my approaches while you work on the code for 3.5. \r\n\r\nWhat are the conditions that trigger the switch to Approach Mode? Is it only crossing the last WP?"}}