'Inline points' for Survey (Grid)?

Hi @Michael_Oborne,

can we please have inline points in ‘Survey Grid’ similar to ‘Simple Grid’ ?
Problem #1 is that planes do not fly linear in altitude between waypoints of different height and inline waypoints could help here to make them climb either almost linear or more like terrain following style (verify height checked) whatever the pilot wants.
Problem #2 is RTK on copter, it would help to get better fix and position for the images if a picture is taken when the copter is hovering. Again inline points (with delay and trigger command for the camera) would help.
It would be nice to have the option to specify inline points every x meters and have the possibility to choose between either straight line between original waypoints or ‘terrain following style’ using verify height.

Thank You

inline points are in Survey grid, but you need to enable a mode other than cam_trigger_dist. ie if you set relay or servo it will automatically generate them

I know those created with DO_DIGICAM_CONTROL, but DO_SET_SERVO etc. didn’t work for me and DO_DIGICAM_CONTROL does the ‘terrain-following’ style but not a linear path between the waypoints on the polygon borders.
Having the option for linear waypoints would help already a lot.

can you provide an example?

Imagine a v-shaped valley and let’s assume there are 5 waypoints:

DO_DIGICAM_CONTROL would add WP2,WP3 and WP4
WP1 terrain 1000m + 100m default altitude = 1100m (polygon border point)
WP2 terrain 900m + 100m default altitude = 1000m (‘inline’)
WP3 terrain 800m + 100m default altitude = 900m (‘inline’)
WP4 terrain 950m + 100m default altitude = 1050m (‘inline’)
WP5 terrain 1200m + 100m default altitude = 1300m (polygon border point)

This is good and what I want flying a copter or helicopter, but using a plane I would like to go straight (linear) from WP1 to WP2. As planes do not fly in a straight line from WP1 to WP5 but instead climb after WP1 as fast as allowed to the height of WP5 and then level out, I would like to specify Linear mode. In Linear mode the above would be:

WP1 terrain 1000m + 100m default altitude = 1100m (polygon border point)
WP2 terrain 900m + 100m default altitude -> linear -> (1300-1100)*0.25 + 1100 -> 1150m (‘inline’)
WP3 terrain 800m + 100m default altitude -> linear -> (1300-1100)*0.5 + 1100 -> 1200m (‘inline’)
WP4 terrain 950m + 100m default altitude -> linear -> (1300-1100)*0.75 + 1100 -> 1250m (‘inline’)
WP5 terrain 1200m + 100m default altitude = 1300m (polygon border point)
Plane would fly a ‘staircase’ instead of one big jump.

Yes it would be cool to have the possibility to specify minimum and maximum default altitude. Maximum altidude to stay in legal limits, minimum altitude to keep the plane above the terrain.
Using default = 100, minimum = 80 and maximum = 150 would result in:

WP1 terrain 1000m + 100m default altitude = 1100m (polygon border point)
WP2 terrain 1050m -> 1150m linear -> 100 is within limits -> 1150m (‘inline’)
WP3 terrain 1150m -> 1200m linear -> 50 is too small, min 80 -> 1230m (‘inline’)
WP4 terrain 1050m -> 1250m linear -> 200 violates maximum -> 1200m (‘inline’)
WP5 terrain 1200m + 100m default altitude = 1300m (polygon border point)

Is the above what you wanted ? Do you need more ?