Auto Mode stop and turn

ArduCopter Copter 4.0
1

Hi all,

at the moment, in auto mode our copter doesn’t stop at the waypoints, but flies through and turn the orientation (yaw) a little slowly.

Is there a way to make a waypoint “stop and turn”, without making a command for each waypoint?

I mean is there a parameter to change for the behavior?

Thanks.

2

Add a delay to the Waypoint command.

3

Hi,

we tried, but the copter actually stops at the WP, then start again while turning. We need to stop → turn to new orientation → start again.

Thanks.

4

I don’t think so w/o 2 waypoints close together.

5

Hi,

In the past, I have seen someone who created a custom Arducopter firmware with a new WP_YAW_BEHAVIOR to do this. Never tried it as it seems a bit unpractical to have a custom firmware just for this, but if you really need it I think you could look for it.
I could think of another method : change the WP radius (make it small to be sure to stop at the right position), add a delay (1s) and then add a DO_CHANGE_YAW command in your flight plan(angle= angle between this point and next point). This should force your copter to stop, turn, then go.
Hope this helps :slight_smile: