From 5df4b9f6fd20727f4f89eb8473d9d2558bf263c4 Mon Sep 17 00:00:00 2001
From: apinxiko <apinxiko.sk@gmail.com>
Date: Mon, 4 Jun 2018 03:52:28 +0900
Subject: [PATCH] Beeping when first reaching waypoint even while in holding
 there

---
 ArduCopter/mode_auto.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 43003d07b8..2b7cbe7756 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1789,12 +1789,19 @@ bool Copter::ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
     // start timer if necessary
     if(loiter_time == 0) {
         loiter_time = millis();
+		if(loiter_time_max > 0) {
+			// play a tone
+			AP_Notify::events.waypoint_complete = 1;	
+			gcs().send_text(MAV_SEVERITY_INFO, "Delay in arrival at command #%i",cmd.index);
+			}
     }
 
     // check if timer has run out
     if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
-        // play a tone
-        AP_Notify::events.waypoint_complete = 1;
+		if(loiter_time_max == 0) {
+			// play a tone
+			AP_Notify::events.waypoint_complete = 1;
+			}
         gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
         return true;
     }else{