Multicopter rounded turns

[bresch]

This creates more rounded turns in multirotor mission using l1-style guidance logic in corners.

Example of what can be done (default acc/jerk, acceptance radius of from 2m to 8m):
https://logs.px4.io/plot_app?log=616bf543-eb2f-44a8-90fa-63cc4b7795f6

• This will only change mission flights
• The drone doesn't stop at each waypoint but decelerates to make a turn at constant speed
• The turning radius is defined by the waypoint acceptance radius NAV_ACC_RAD
• A wide range of accelerations (MPC_ACC_HOR), jerk (MPC_JERK_AUTO) and velocities (MPC_XY_CRUISE) should work.
• Use MPC_YAW_MODE "along trajectory" for a nice yaw coordinated turn

Other example:

[MaEtUgR]

Looks good 👍
If you need a review you have to give me some working hours 🤷‍♂️

[aredub83]

I'm looking for help with this. I too am flying LiDAR on the AltaX. I'm no good at any coding. Anyone here willing to assist in getting my bird setup for these curved turns?

[mrpollo]

@aredub83 you should talk to FreeFly Systems, and figure out which flavor of PX4 are you currently running, and if this feature is included. If the feature is already included, they should be able to help you tune the parameters in your mission control software.

Let me know if this doesn't solve your question.

[aredub83]

@aredub83 you should talk to FreeFly Systems, and figure out which flavor of PX4 are you currently running, and if this feature is included. If the feature is already included, they should be able to help you tune the parameters in your mission control software.

Let me know if this doesn't solve your question.

I've found another post from @arktix regarding this. It sounds like they may be working on a solution. I've emailed Freefly now and hope to have something back from them. Thanks for the reply!

[mrpollo]

Sounds good! FreeFly is a super friendly company and should be able to help you.