WE HAD A STANDARD RECTANGLE PLAN FOR AUTOMISSION.
USUALLY DURING OUR TESTING PHASE THIS IS THE LAST TEST FLIGHT WE DO TO SEE THE ATTITUDE AND PIDS TUNING.
THIS SPECIFIC DRONE WHEN REACHING A WAYPOINT SLOWS DOWN AND THEN YAWS NOSE FACE TO NEXT WAYPOINT AND THEN PROCEEDS TO THAT WAY POINT. BUT MY REQUIRENT IS THAT IT DOES A SMOOTH TURN INSTED OF STOPPING AND DOING A YAW.
WP_YAW BEHAVIOUR IS SET TO GPS COURSE
CAN SOMEONE PLEASE ADVISE WHICH PRAM AM I MISSING OUT THAT NEEDS TO BE CHANGED
Putting the all-caps aside for the moment, it looks like you’re running Copter-4.4 so I’ve moved this discussion to the 4.4 category.
WP_YAW_BEHAVIOR is one parameter that affects this but I think you’ve already found this. I think it’s probably best to return this to the default of 2.
It may also help to make the vehicle cut the corners more by ensuring that there are no delays at the waypoints.
So I think you’re saying the core issue is the vehicle is stopping at the waypoints and the cause is probably fixed in Copter-4.5 so you could try upgrading.
A workaround to the issue is to set WPNAV_ACCEL_C to 200.