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
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
AUTO_WP_ALT_MODE:
Safe: first reach the altitude before to move to waypoint
Straight: goes from one waypoint to another waypoint in a direct line