Hello. I posted about this in the QGroundControl thread, but it was suggested that I bring it up in the firmware thread. If I’m not in the correct thread, please direct me to where I should go.
I’m trying to figure out how to make the turnarounds in a survey waypoint mission be smooth instead of the default 90° turns. In other words, the default turns look like " Π " and I’d like them to look like " U ".
I need this because I fly a LiDAR sensor on a large quadcopter (Freefly Alta X). Part of LiDAR data processing requires the rectification of the trajectory based on GNSS and IMU data. To get the best results, it is very important that the trajectory be smooth (i.e. no large accelerations from speeding up/slowing down or sharp turns). It has to be smooth even in areas where you don’t care about the data. So, I can’t simply have the turns occur somewhere beyond my area of interest (unless I got very far, but that’s not ideal either).
So, the default 90° turn behavior actually impacts our LiDAR point cloud quality noticeably. Is there any parameter(s) I can change to make the turns smoother? Ideally, it would be a continuous semi-circle, but anything that’s more smooth than the default behavior would help.