I’m just dropping by to show an example of a real flight with Copter v4.1. In this case, it is the difference between approaching a waypoint between trees with and without the S-Curve.
In this case, the vertical approach is much safer, moving the quad away from the trees in a clearing:
- Blank is the planned trajectory.
- In red is the quad flying with version 4.0.7 WITHOUT S-Curve
- In orange is the same quad flying with version 4.1 WITH S-Curve
Thanks, Dev team!