We have a multirotor that is carrying a hyperspectral imaging camera. We do auto surveys in Mission Planner, but because of the design of the sensor (line scanner), it is recommended that imaging is always done in forward motion (nose pointing forward, like an airplane would do), instead of the usual heading hold that make the copter go “back and forth” along lines.
When flying auto missions, what we see is that the aircraft starts turning (yawing and rolling) way before reaching the end of the lines, and does so very slowly. As this ruins the imaging, we would like the behavior to be more “tight”, with sharper, faster yaw turns when close to the waypoints. I have experimented with adding a 5 sec delay at each waypoint, which helps, but the multirotor is still very slow in yawing to the desired position, and still yaws after the waiting time.
Which parameters could I change to improve this, whithout changing how the copter responds during Stab/Loiter? And/or is there a way to program the mission so it goes “Get to waypoint > Stop > Adjust heading while not moving > Only move again once heading is correct”?