Servers by jDrones

What is Q_WP_RADIUS supposed to do?


(Echo) #1

I’m quite new with the quadplane and I’m trying to understand what does this parameter do.
I’ve already read the description here: http://ardupilot.org/plane/docs/parameters.html#q-wp-radius-waypoint-radius but it doesn’t matter what value it takes, quadplane’s behaviour does not change.
Could someone explain it to me please? Maybe it’s a bug?

Thanks.


(Pompe Cukor) #2

I never tested it, but from the description I was lead to understand that if you are in VTOL mode (so not transistion to fixed wing) and doing mission this way, then (unlike fixed wing) VTOL can nail a WP precicly and start going in another direction at an angle (instead of a curve like in fixed wing mode). This is carried over from Copter I belive. So incase you want to do VTOL mode waypoint but dont want to plane to be wasting time and energy getting all the way to the 1x1m of the waypoint, but rather consider it is done after it get X (the value you set here) m fromt that waypoint.
Does this make sense?


(Echo) #3

Absolutely. I was expecting this behaviour too, but it doesn’t work like that. Regardless of the mode, the quadplane ignores Q_WP_RADIUS :confused:

Here’s an example, in VTOL mode, with WP_RADIUS = 60 (m) and Q_WP_RADIUS = 100 (cm):
Executing nav command ID #85
Reached waypoint #8 dist 14m
Executing nav command ID #16
Reached waypoint #7 dist 6m
Executing nav command ID #16
Reached waypoint #6 dist 6m
Executing nav command ID #16
Reached waypoint #5 dist 6m
Executing nav command ID #16
Reached waypoint #4 dist 9m
Executing nav command ID #16
Reached waypoint #3 dist 11m
Executing nav command ID #16
Reached waypoint #2 dist 15m
Executing nav command ID #16
EKF yaw reset -4.13
Reset alt target to -0.1
Executing nav command ID #84