Waypoint Transitions Too Abrupt

ArduCopter Copter 3.1
1

Has anyone plotted and flown a mission on the iris and noticed how the waypoint transitions are sudden and abrupt?

I was curious if there was a way to increase the radius of the points (rounding the corners on a square).

I looked into mission planner but can’t find anything in the configurations that will allow me to change how iris acts during waypoint transitions.

2

3.2 will do much smoother corners with splinenav.

You can change WPNAV_RADIUS.

3

I have the same problem. If I’m filming something then all the corners are very hard and abrupt.
So basically what I’m reading is you can increase the radius and it will be smoother?