I am writing a computer program that needs to model where a copter will be at a certain time given waypoints and the drone’s loiter speed, accel, jerk etc.
But in order to do that well, there are some things I need help understanding about Arducopter.
For example, if the drone is flying at its loiter speed (say 5m/s) to a waypoint, but the next waypoint is 90degrees away from the current one, once the drone enters the WP_RADIUS signifying completion of the first waypoint, does the drone attempt to stay on the “line” between the first and second waypoint? Like is it trying to make sure it does not overshoot the shortest distance line between the two points, or does it simply begin accelerating towards second waypoint?
I may not even understand enough to ask that question intelligently enough to get good answers (and if that is so, you can just say so), but I would appreciate anyone who could help me understand what the Pixhawk is attempting to do in these situations.
The end goal here is that given a waypoint mission, I can ask “what is the state of the drone 45 seconds into this mission” and give answers that are somewhat close to reality. Also, if there are already programs or algos that do this that are open source that would be awesome!!