This is my first post in this forum. So please go easy on me if this topic was already discussed.
I am running SITL simulations to define a tight survey mission with the the “simple grid” pattern produced with the mission planner. In the mission, the plane makes a 180 degree / U turn on each leg and I am trying to reduce the radius of these turns. Beyond the standard tuning parameters that affect the bank angle, waypoint radius, nall1_period, etc, reducing the velocity of the plane ahead of each turn should be the more effective, physics driven approach (R~ v^2).
My issues are:
I set the turn velocity to a low value, some diameter lengths in advance of the turn, but the plane hardly slows down. Is there a way to activate air-brakes on SITL in auto mode? How to configure it? This is probably a bad approach as the plane will waste energy this way…
A more energy conserving way would be to reduce K.E in exchange for P.E. So I (try to) cut off the throttle and put the plane on a climb before the turn to slow it down, However the throttle seems to be compensating and actually accelerating the plane. How do I disable/reduce this seeming throttle compensation?
Alternatively, I set an elevated waypoint for the apex of the turn to see if I can bleed off the airspeed during the simultaneous turn and climb, but still the throttle seems to be kicking in. I lowered TECS_RLL2TAR all the way to its minimum, but I did not see much effect.