Pls advice how can I plan a mission with specified ground speed of an airplane in a certain waypoint?
Tried to simulate DO_CHANGE_SPEED command, but a plane doesn’t change the speed.
Any thoughts?
There is a minimum ground speed parameter, though it may be exclusive to copter firmware.
If you set It to your desired speed and set commanded air speed low enough your plane should try to maintain ground speed. I wouldn’t expect much precision from that though.
Alternatively you can use Lua to either actively modify desired airspeed or take over throttle control from TECS and run your own throttle controller. This however comes with few caveats
- you need to set TECS speed weight so TECS doesn’t use pitch to control airspeed when your script is working
- Your script when active will be responsible for throttle control so it must ensure it can safely command high throttle
- Set override timeout so script crashing will return control to FC, during testing have GCS set up to quickly stop scripting if something goes wrong
- check if you can reset TECS state when returning control otherwise integrator windup may cause sudden altitude change.
- check API bindings in source code as the wiki descriptions aren’t necessarily up to date.
Scripting requires H7 based flight controller.