In survey, how do I ensure drone is facing forward after a turn

Ground Control Software Mission Planner
1

Hi,

When planning a mission how do I ensure the quad enters my survey area facing forward? In the mission for the attached image of position and yaw I already set the overshoot to 5m with a flying speed of 2m/s. But the quad is still turning when it starts taking pictures again? (Survey start bottom left). It’s worse for 4m/s.

Is there a formula for overshoot in relation to speed. Or do I set a delay at WP? Surely as a quad it should be able to turn on a sixpence?

Cheers
Martin

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2

have you looked at the yaw parameters http://ardupilot.org/copter/docs/parameters.html#wp-yaw-behavior-yaw-behaviour-during-missions

3

Hi,

Thanks Michael. I’ve been looking at the MP settings, to confirm, are you saying I need to change the copter settings for YAW? I’m not a drone builder, which YAW settings would control this behaviour?

Cheers
Martin

4

the one I linked above. its a parameter with multiple options. I leave it to you to pick the option that suits

5

Sorry, I missed that. It’s set to “Face next waypoint except RTL”, which it kind of does, but it’s slow doing so, unless it doesn’t count the overshoot waypoints?

6

Mission plan attached, due to the overshoot I’d expect it to turn from 9 to 10, 15 to 16 etc.? But it’s coming in at e.g. 16 sideways, and only then starts to turn. All the left turns aren’t too bad, all the right turns come in sideways.