{"action":"opened","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/1908","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1908/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1908/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1908/events","html_url":"https://github.com/diydrones/ardupilot/issues/1908","id":58557462,"number":1908,"title":"Plane: Request: Loiter until target altitude is reached","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},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-02-23T08:40:40Z","updated_at":"2015-02-23T08:40:40Z","closed_at":null,"body":"I read this request before but could not find it here on Github. The ability to loiter until a selected altitude is reached would be very useful when operating an areas of steep terrain. \r\nI have tried to use CONDITION_CHANGE_ALTITUDE but I can't get it to work. Even if I could get it working, it requires several commands and it is not very intuitive. I found these instructions by Doug Weibel:\r\n(http://diydrones.com/forum/topics/flight-planner-question?overrideMobileRedirect=1)\r\n\"You can also do it with a series of 3 commands.  I believe it would go like this for example...\r\nmission command 9 - Waypoint (before loiter)\r\nmission command 10 - Condition Change Alt\r\nmission command 11 - Do Jump (to command 13)\r\nmission command 12 - Loiter unlimited\r\nmission command 13 - Waypoint (after loiter and altitude change)\"\r\n\r\nI would love to see a new command called LOITER_ALT_CHANGE. "}}