Plane follow script Applet

ArduPlane/Parameters.cpp

@@ -1319,6 +1319,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("FWD_BAT_THR_CUT", 37, ParametersG2, fwd_batt_cmp.batt_voltage_throttle_cutoff, 0.0f),
 
+    // @Param: GUIDED_UPD_LIM
+    // @DisplayName: Guided Update Limit
+    // @Description: The maximum frequency that an guided mode commands sent by external system such as lua or mavlink can update roll, pitch and throttle.
+    // @Units: ms
+    // @User: Standard
+    AP_GROUPINFO("GUIDED_UPD_LIM", 38, ParametersG2, guided_update_frequency_limit, 3000),
+
     AP_GROUPEND
 };
 

ArduPlane/Parameters.h

@@ -574,6 +574,8 @@ class ParametersG2 {
     AP_Follow follow;
 #endif
 
+    AP_Int32        guided_update_frequency_limit;
+
     AP_Float        fs_ekf_thresh;
 
     // min initial climb in RTL

ArduPlane/commands.cpp

@@ -86,8 +86,11 @@ void Plane::set_guided_WP(const Location &loc)
     next_WP_loc = loc;
 
     // used to control FBW and limit the rate of climb
+    // cannot be applied in Guided as this prevents the guided set altitude from working correctly
     // -----------------------------------------------
-    set_target_altitude_current();
+    if (!control_mode->is_guided_mode()) {
+        set_target_altitude_current();
+    }
 
     setup_glide_slope();
     setup_turn_angle();