This is a simple comparison of the path that Copter-4.0’s “leash” based navigation takes vs Copter-4.1’s “s-curve” navigation when the target speed is high (i.e. WPNAV_SPEED = 1500) and target maximum acceleration is left low (i.e. WPNAV_ACCEL = 100).
You’ll hopefully notice these three improvements:
- the vehicle does not cut corners as much
- the path in and out the corners is symmetrical
- the vehicle’s heading more closely matches the path the vehicle is following
This enhancement should also reduce some issue that users reported with “do” command executing long before the vehicle reached the corners.
The algorithms and majority of the coding for this important enhancement come from AP’s control expert Leonard Hall (aka @Leonardthall)
In case anyone is interested in looking at the code, the “Pull Request” to include these changes into master ahead of the Copter-4.1 release can be found here: https://github.com/ArduPilot/ardupilot/pull/15896