How increase speed in movement commands in GUIDED mode?

ArduCopter
1

Hi
I want to go to the direction of one point in guided mode(send it with SET_POSITION_TARGET_LOCAL_NED) with maximum speed of my drone. Is there anyway?
On other word I want to send any X, Y and Z even small(for example 2, 1 and -1) to FC and then drone go with maximum speed to that direction?
I don’t want drone wait and hover on the chosen point, and I want drone go on the direction as fast as possible. :heart_eyes:
:thinking: I know vx, vy and vz available on SET_POSITION_TARGET_LOCAL_NED message but I don’t want use that because for that, I should calculate maximum speed of my drone and then for calculate direction should scale them with maximum speed and then send to drone! :face_with_spiral_eyes: Absolutely it isn’t easy and I should calculate all of them to send only one message!

Regards

2

@ppoirier @amilcarlucas @rmackay9

3

You clearly did not follow all the steps in the Methodically configure and tune ArduCopter.

If you had… it would be really fast!

4

yes, it is fast but only when you send the point far from your location. If you send near location, drone move slow! Also I tuned my hexa very well and after that, it fine tuned by AutoTune mode.

I think it has been taken away, I want to go to the direction of one special point, with maximum speed with SET_POSITION_TARGET_LOCAL_NED messages with send position(X, Y and Z with type mask 0b110111111000).
For example I send position with below code:

the_connection.mav.send(mavutil.mavlink.MAVLink_set_position_target_local_ned_message(10, the_connection.target_system, the_connection.target_component, mavutil.mavlink.MAV_FRAME_LOCAL_OFFSET_NED, type_mask, 2, 1, -1, 0, 0, 0, 0, 0, 0, 0, 0))

I don’t want drone stop in (2, 1, -1) I want it go to this point direction and continue moving on that until I change mode to loiter or stop moving with code.
Is there anyway for that?

5

Hi @joe_white,

I think you could send velocity commands instead of position commands. You’ll need to keep sending the commands at at least 1hz though or it will timeout and stop.

1 Like
6

And having the FF parameter of the position controller correctly configured (section 13 file 41 on the Blog post) also helps a lot, especially when the destination point is close to the current one.

7

Hi @amilcarlucas,

Txs for all the help. In this case, I think it’s unlikely to be a tuning issue although no log has been provided so we don’t know much (hint hint). I think he’s struggling to get the correct target into the autopilot.