Is there a parameter I am missing to have straight line between two waypoints with different altitudes in mission mode ? I played with all the possible parameters I found (traj_P, jerk_auto/min/max, cruise_xy, and so on) but I feel because the regulation logic to next wp is based on PID, I always have this “stair” effect which I don’t want.
You can find some tests I did in simulation here. The jump to Z altitude is not too hard but not satisfying enough
I was not sure if I tried that one so I retry but I still have the same behavior.
because I have short deadline I started to implement a solution using Offboard mode. I just dropping an idea but I feel it would be nice to have a parameter for this kind of situation rather than to have to set up 10 parameters and still not getting what it should be hehe… Something like
- Safe: first reach the altitude before to move to waypoint
- Straight: goes from one waypoint to another waypoint in a direct line
Let me ping @bresch here.
@Katawan Hi, this feature is now present on master and will be in the new v1.11 release.
An altitude change creates a nicely synchronized XYZ linear motion (no need to set any parameter, this is by default now).
I just tried in SITL: https://logs.px4.io/plot_app?log=b9e4e9e2-aef9-4525-890b-63b784578c81
Thank you for the answer ! I’m using offboard for now, but I might need mission again at some point so I’ll give a try. Good news !