UgCS desktop route planning allows specifying different turn types – i.e. the way the drone passes the waypoint.
There are 2 different route planning modes for DJI autopilots: fixed-point turn mode (Stop and Turn) and adaptive coordinated turn mode (Adaptive Bank Turn); 2 different turn types for Ardupilot vehicles: Straight waypoint and Spline waypoint and 1 turn type for PX4 autopilot - straight.
|Turn type||Supported autopilot||Description||Notes|
|Stop & Turn||DJI Autopilot||Aircraft ﬂies to the ﬁrst ﬁxed point accurately stop at the ﬁxed point and then ﬂies to the next ﬁxed point.||Works with all actions|
|Adaptive Bank Turn||DJI Autopilot||Aircraft will not stop at the fixed point, but will “cut the corner” and pass through without a stop.|
The maximum corner radius can be adjusted in UgCS for DJI mobile applications in “drone-specific settings”.
|Doesn't work with Wait, Change yaw, Set camera altitude (except DJI M300), Set camera mode (except DJI M300), and Panorama actions.|
|Straight||Ardupilot, PX4||The vehicle will fly straight to the location specified as a lat, lon, and altitude.|
|Spline||Ardupilot||The vehicle will fly to the location specified as a lat, lon, and altitude, but when executed the vehicle will fly smooth paths (both vertically and horizontally) instead of straight lines||Make sure the line segment after the waypoint is long enough|
otherwise autopilot can fly unexpectedly missing some waypoints. What is "long enough"? The desired
segment length varies with speed. Our tests show that with a ground speed of 5m/s route segment must be
at least 20m long. If the speed is set to 10m/s then the route segment after the waypoint should be at least
Updated 3 months ago