Configuring Gradual Velocity Reduction for Quadcopter Waypoints in Auto Mode

ArduCopter
1

Hello everyone, and thanks in advance.

I have a quadcopter with the latest firmware, version 4.4.4. I am using it in auto mode with predefined waypoints. I want to set it to gradually reduce the horizontal velocity before reaching the waypoint. For example, if I am flying at 16 m/s, I want the quadcopter to gradually slow down as it approaches the waypoint and then come to a stop at the waypoint.

Could someone please guide me on how to achieve this?

2

You are looking for python code to do this?

3

Reduce WPNAV_ACCEL. This will also result in a more gradual acceleration away from the waypoint, but it’s the easiest method to achieve your intent.

1 Like
4

Thank you for your time

no, I want to do it by modifying parameters, someone I have seen they are modified the parm list, but I have not remembered the parm.