Overview

The GUID parameter group configures the behavior of the Guided flight mode. Guided mode is primarily used for external control by a Ground Control Station (GCS) or a Companion Computer (e.g., "Click to Fly Here" or ROS navigation).

Key Concepts

1. Guided Options (GUID_OPTIONS)

A bitmask that alters Guided mode logic.

• Allow Arming: Whether the vehicle can be armed while in Guided mode.
• Ignore Pilot Stick: If set, moving the RC sticks won't override the Guided mission (Advanced).
• Face Next WP: Controls yaw behavior during guided movement.

2. Timeout (GUID_TIMEOUT)

Defines how long the autopilot will wait for a new Guided command (e.g., from a script or companion computer) before taking failsafe action (usually Hover or RTL). This is critical for safety in the event of a companion computer crash.

Parameter Breakdown

• GUID_OPTIONS: Bitmask of behaviors.
• GUID_TIMEOUT: Command timeout (seconds).

Integration Guide

• Companion Computers: Set GUID_TIMEOUT to a value slightly higher than your navigation loop rate (e.g., if ROS sends targets at 5Hz, set timeout to 0.5s or 1.0s).

Developer Notes

• Library: ArduCopter/mode_guided.cpp, ArduPlane/mode_guided.cpp.