{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8559","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8559/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8559/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8559/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/8559","id":328490446,"node_id":"MDExOlB1bGxSZXF1ZXN0MTkyMDEyNzM2","number":8559,"title":"Copter: SmartRTL only record mission WP in auto mode","user":{"login":"chobitsfan","id":19793511,"node_id":"MDQ6VXNlcjE5NzkzNTEx","avatar_url":"https://avatars1.githubusercontent.com/u/19793511?v=4","gravatar_id":"","url":"https://api.github.com/users/chobitsfan","html_url":"https://github.com/chobitsfan","followers_url":"https://api.github.com/users/chobitsfan/followers","following_url":"https://api.github.com/users/chobitsfan/following{/other_user}","gists_url":"https://api.github.com/users/chobitsfan/gists{/gist_id}","starred_url":"https://api.github.com/users/chobitsfan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chobitsfan/subscriptions","organizations_url":"https://api.github.com/users/chobitsfan/orgs","repos_url":"https://api.github.com/users/chobitsfan/repos","events_url":"https://api.github.com/users/chobitsfan/events{/privacy}","received_events_url":"https://api.github.com/users/chobitsfan/received_events","type":"User","site_admin":false},"labels":[{"id":24269224,"node_id":"MDU6TGFiZWwyNDI2OTIyNA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c","default":false}],"state":"open","locked":false,"assignee":{"login":"rmackay9","id":1498098,"node_id":"MDQ6VXNlcjE0OTgwOTg=","avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"assignees":[{"login":"rmackay9","id":1498098,"node_id":"MDQ6VXNlcjE0OTgwOTg=","avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false}],"milestone":null,"comments":5,"created_at":"2018-06-01T11:52:33Z","updated_at":"2018-06-22T04:06:57Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8559","html_url":"https://github.com/ArduPilot/ardupilot/pull/8559","diff_url":"https://github.com/ArduPilot/ardupilot/pull/8559.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/8559.patch"},"body":"SmartRTL works well in most situation. But it may deactivate due to buffer full in long range auto mission. In our river inspection mission. SmartRTL will deactivate(buffer full) after entertain mission waypoint. We need SmartRTL in this mission for failsafe because conventional RTL do not work (both sides of river are  high mountain). \r\n![river](https://user-images.githubusercontent.com/19793511/40844211-eb196128-65e5-11e8-8754-69a6582e6e7d.jpg)\r\n I modify SmartRTL so that it only record passed waypoints. So that I can make sure SmartRTL never buffer full because it will not exceed number of WPs. "},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/399314676","html_url":"https://github.com/ArduPilot/ardupilot/pull/8559#issuecomment-399314676","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8559","id":399314676,"node_id":"MDEyOklzc3VlQ29tbWVudDM5OTMxNDY3Ng==","user":{"login":"chobitsfan","id":19793511,"node_id":"MDQ6VXNlcjE5NzkzNTEx","avatar_url":"https://avatars1.githubusercontent.com/u/19793511?v=4","gravatar_id":"","url":"https://api.github.com/users/chobitsfan","html_url":"https://github.com/chobitsfan","followers_url":"https://api.github.com/users/chobitsfan/followers","following_url":"https://api.github.com/users/chobitsfan/following{/other_user}","gists_url":"https://api.github.com/users/chobitsfan/gists{/gist_id}","starred_url":"https://api.github.com/users/chobitsfan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chobitsfan/subscriptions","organizations_url":"https://api.github.com/users/chobitsfan/orgs","repos_url":"https://api.github.com/users/chobitsfan/repos","events_url":"https://api.github.com/users/chobitsfan/events{/privacy}","received_events_url":"https://api.github.com/users/chobitsfan/received_events","type":"User","site_admin":false},"created_at":"2018-06-22T04:06:57Z","updated_at":"2018-06-22T04:06:57Z","author_association":"CONTRIBUTOR","body":"add a new parameter SRTL_WP_ONLY to enable/disable only recording WPs in auto mode. default is disable (SmartRTL works in original way)"}}
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