I was wondering if it’s possible (via a parameter or some setting I’m not seeing) to make the turnarounds in a survey waypoint mission be smooth instead of the default pair of 90° turns. In other words, the default turns look like Π and I’d like them to look like U.
Ideally, I’d like to change the waypoint behavior in any waypoint mode to allow a smooth transition through the waypoint, but any solution to achieve a smooth turnaround in survey mode would be very helpful.
I am looking for this because I fly a LiDAR sensor on a large quadcopter (Freefly Alta X) for mapping and other purposes (e.g. we scan terrain, structures, etc with the LiDAR sensor and create highly accurate 3D point clouds from the data). The sharp turns actually impact the quality/accuracy of our point clouds when we process the data.
The high accuracy LiDAR processing that we do requires very accurate trajectory data, which is collected by a high grade GNSS antenna/receiver and a FOG IMU. The software used to process the IMU data is sensitive to large accelerations (i.e. speeding up and slowing down quickly or sharp turns). Additionally, we get better results when the IMU never stops moving. So, the default behavior for turning around in waypoint mode is problematic for two reasons:
It generates relatively large accelerations, and;
It causes the aircraft (and, of course, the LiDAR system attached to it) to come to brief stops at each waypoint.
A smooth turnaround would greatly improve the data quality and allow me to fly more efficiently. Right now, I have to fly out far beyond the extents of my area of interest for the turnarounds to allow the IMU data to “settle” before the system renters the area of interest. Any suggestions would be much appreciated. Thanks in advance!