Yaw Turn Types in Auto Mode

Hi all,

I’m struggling to find a way to configure the way the vehicle performs turns in Auto Mode. For example when flying in a grid pattern I’d like the vehicle when it reaches a waypoint to stop, turn, then continue to go. I notice that currently the vehicle will get to the waypoint, start yawing to the next waypoint, but it will start moving towards the waypoint while still doing the yaw movement. Any help with this would be greatly appreciated.

Thank you!

Take a look at: https://github.com/ArduPilot/ardupilot/pull/12142

1 Like

Let me buy you a beer!

Any idea when this might be merged into master?

It will get merged once I (or somebody else) writes an autotest (regression test).
Can you help with that ?

I sent you a PM.