Cutting Corners in Auto mode with Spline Waypoints

ArduCopter Copter 3.5
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1

I have been trying to setup a mission with Spline Waypoints, but the vehicle keeps cutting the corners by tens of meters.

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This is something that in the older releases (3.4.6ish) did not happen. The vehicle almost overlaps the programmed spline mission only at very low speed, say 3/4 m/s, while before it would do much better.

I understand there is a leash calculated with the planned velocity and maximum acceleration. In the simulator I tried and set the acceleration WPNAV_ACCEL as high as 1000 (more than 1g) and even higher with no result.

Am I missing something here?

TF

2

It’s a known issue, highly related to speed.

3

I noticed that now, to reach the last waypoint, it takes a very long time.
It slows down too much, like it has a very low acceleration, while I set
200 as wpnav_accel