Waypoint flight route.How to fly along the line?

ArduCopter Copter 3.3
1

hi, everyone!

I met some problems about tracking error during way point flight in auto mode.

I’m using a qudurotor to do a task about WPnav flight indoor recently. The its actual flying route is bad. Compared with the desired route,the tracking error is a little large. the drone flied along a curve obviously,but not a line.the curvature is a little large caused by the tracking error.

The picture below shows the detail about actual flight test.

I want to reduce the tracking error, what can I do? do something about PID parameters? or ?
Thanks for your help!

2

If you are flying indoors, you will not get good GPS readings.
Run the same test outdoors.

If the distance of travel in each direction is only 1 metre, you will not get anywhere close to 100% accuracy.

3

I did fly indoors. The vehicle‘s position information is got from the indoor Motion Capture System, where the estimation error is centimeter level even better.

I have run the same test outdoors with the good GPS, the error is worse.

therefor, I guess something about improving its tracking approach or PID parameters may reduce the tracking error.

4

I did a test later , the distance was longer than before,
and no other different condition in the experiment. It is also a indoor test.