Hello,
What is the best way to follow a manual flight as closely as possible?
Right now I’m sending ever n points in the manual flight local log (x,y,z, yaw, and velocities) to /mavros/setpoint_raw/local
with mavros_msgs::PositionTarget
messages.
This roughly works, but between every setpoint, it slows down and speeds up again (I’m guessing due to the PID), and this causes the motion to be super jerky. Is there a better way to do this?
P.S. I’m running all this with gazebo, and not actual hardware, and I eventually want to do this in GPS denied environments, so I’m not sure if I could use the mavros waypoint mission since it requires lat,long,alt.