Spline Curves Exit/Entrys Issue

Mission Planner
1

sometimes i get a perfect 180° Spline turn without stopping.
sometimes I get this kind of turn with Stop+Turn on the exit Point.

spline
spline646×591 78.5 KB
1
1575×576 83.5 KB

It tried different settings of overshoot & leadIn & WPNAV_Rad but couldnt find a workflow to get the redline all the time.

If i fly the same mission with the Simulator it doing a great spline like it should:

on what exactly is this behavior dependent and how can I make it calculable?
Is his about the track/line width?

PURPLE: how the drone flew
RED: what I would wish for, every time everywhere

tested with WPNAV_RADIUS,150 / 100 / 50
(Unit is Centimeter)

Posted this already in the ArduPilot group.
Thanks guys

2

SCURVES is coming in Arducopter 4.1 (in beta testing now) that will fix these issues.
Watch the videos in this thread ->

3

Actually the different behaviour on some turns can be put down to aircraft speed, and maybe wind could be playing a part too - the aircraft is unable to make the turn as expected so eventually it has to stop and turn in order to hit at least some of the waypoints. :frowning:
This is where S-Curves is different, and dynamically calculates the speed and accelerations to hit each waypoint and maintain a symmetrical entry and exit.

You could maybe improve it now by reducing the WPNAV speed before those turns at the end of each leg.

4

Thank you very much, got it :slight_smile:
im just wondering a bit: yesterday for example i had this at 4m/s a just a little bit of wind. If i use UGCS as a groundsoftware it fly perfect splines no matter which speed or wind (Same UAV, same situation).
Whats the difference?