How to smooth speed between two WPN?

Mission Planner
1

Hi,

I have a pretty dynamic stops of my quad when the flying speed is set down between two waypoints.

I tried Loit_brk_accell (from 250 to 75) and Loit_brk_jerk (750 from 1000) but i did not notice any smooting reaction.

The quad is still giving a kick to decrease the speed.

Is it possible to graduate this decceleration ?

here is a really low quality video but i think, it is enough to see what i 'am talking about.

Thanks.

A.

2

You may want to tune the pid on your copter
https://ardupilot.org/copter/docs/tuning.html

3

Hi,

I understand i need to fine tune the copter and i will do a final autotune with this new payload.

My question was on the specific topic of decrease the speed between two waypoints. Have you any advice about this ?

Thnkns.

Adrien

4

May be adjusting parameters such as WPNAV_SPEED?
https://ardupilot.org/copter/docs/auto-mode.html#tuning

5

This is controlled by WPNAV_ACCEL parameter.

6

Thanks Anubis !
i’ll try this next week on the mission.

Is there any mean to clontrol the speed during the mission with stick control ? like giving pitch forward to speed up and pitch backward to speed down ?

Thanks

Adrien

7

I’ve never done it before, but it looks like you can use the tuning knob to adjust waypoint speed in flight:

image
image918×781 198 KB

8

Interesting !

We use the Herelink remote, maybe i can assign the turning knob to this function. I’ll check this.