Last Waypoint always skips

[GoogleCodeExporter]

What steps will reproduce the problem?
1.Create a mission
2.Start the mission

What is the expected output? What do you see instead?
I expect to see all the waypoints visited.
Instead, the last waypoint is skipped, and the APM loiters over the home 
position.

What version of the product are you using? On what operating system?
APM 2.011

Please provide any additional information below.
Typical waypoint file:
--------------------------------------------------------------------------------
---------
#define WP_RADIUS 30 // What is the minimum distance to reach a waypoint?
#define LOITER_RADIUS 50    // How close to Loiter?
#define HOLD_CURRENT_ALT 0  // 1 = hold the current altitude, 0 = use the 
defined altitude to for RTL
#define ALT_TO_HOLD 75

float mission[][5] = {
{NAV_TAKEOFF,5,50,0,0},
{NAV_WAYPOINT,0,50,37.6106605,-122.3679962},
{NAV_LOITER_TURNS,2,50,37.6150817,-122.3731079},
{NAV_LOITER_TURNS,2,50,37.6217956,-122.3683547},
{NAV_WAYPOINT,0,50,37.6194839,-122.3592224},
};
--------------------------------------------------------------------------------
----------------

Original issue reported on code.google.com by philcole...@gmail.com on 26 Mar 2011 at 6:38

[GoogleCodeExporter]

Picture shows a typical result from flying the above mission.

Original comment by philcole...@gmail.com on 26 Mar 2011 at 6:50

[GoogleCodeExporter]

I have tried this up to 13 WPs. Last one is always skipped.
You can also see WP 2 was skipped. This happens sometimes, as well.
Flying Xplane HIL.

Original comment by philcole...@gmail.com on 26 Mar 2011 at 6:51

[GoogleCodeExporter]

Still pretty much the same with the new FastSerial and ADC libraries. 
It changes to WP3 while 1/2 way to WP2 and the last WP is skipped.
The WP2/3 thing can be seen in the telemetry showing the current WP.
See my comment on issue 288 for the latest picture.

Original comment by philcole...@gmail.com on 29 Mar 2011 at 3:27

[GoogleCodeExporter]

I have verified and found the bug.  I am waiting to see why Jason made the 
change that caused it before changing it back.

Original comment by dewei...@gmail.com on 3 Apr 2011 at 10:53

• Changed state: Accepted
• Added labels: Priority-High
• Removed labels: Priority-Medium

[GoogleCodeExporter]

Original comment by dewei...@gmail.com on 3 Apr 2011 at 10:54

• Added labels: Milestone-Release2.0

[GoogleCodeExporter]

Fixed in r2546

Original comment by dewei...@gmail.com on 4 Apr 2011 at 1:08

• Changed state: Fixed

[GoogleCodeExporter]

Fixed for me too, thanks.

Original comment by philcole...@gmail.com on 4 Apr 2011 at 3:04