Drone descends first before traversing between two waypoints when linear interpolation is selected
I'm expecting the drone to fly a straight path from each waypoint to the next. In this flight plan, the drone reached Waypoint Alfa, disengaged (I've included that command in the waypoint), then when I resumed, it appeared to descend to the altitude of Waypoint Bravo before traversing. Behavior was as expected (straight line) for subsequent waypoints.
Is this something to do with the "waypoint start"?
What seems to happen:
- Ascend from takeoff to altitude of waypoint start
- Traverse to waypoint start
- Disengage
- Upon resume, descend to Waypoint Alfa altitude
- Proceed to Waypoint Bravo
What I want to happen:
- Ascend from takeoff to altitude of waypoint start
- Traverse to waypoint start
- Descend to Waypoint Alfa altitude
- Disengage
- Upon resume, proceed to Waypoint Bravo
Flight plan linked below:
Comments
5 comments
Hi John. Try using a path marker with the disengage and place each one after the waypoints. This way it should fly to each waypoint at the AGL altitude you have set and then disengage. Also I did notice you have the start of the plan set to ATL then all the waypoints set to AGL. I don’t think it will affect the mission the way you are using it but just an observation. Of course this will affect the way it acts due to it going from ATL at start of mission then to AGL at waypoint A which it needs to adjust based on the ERSI data for elevations. This is why there is a drop after it reaches waypoint A.
The issue is that the approach to the waypoint component is set in ATL while Waypoint Alfa is set to AGL. If you select AGL for both it behaves the way you want.
More brief than mine about ATL LOL. The question I also saw was when it disengaged either before or after the waypoint but maybe I’m misunderstanding that issue.
Thank you both.
Jim, I understand that it will have to descend (given the ATL/AGL difference), and I'm fine with that. I'm just trying to get clarity on why does it descend after the disengage command? I would expect the coords and altitude should be a condition of arriving at the waypoint before any components are executed. Am I understanding things incorrectly? In this case, the disengage happens first, and then it descends to the altitude of the waypoint. Can you explain why this would be?
As for why I'm using both ATL and AGL, it's because I'm trying to control the flight with the fewest number of components possible. Since there's no "minimum safe altitude" setting at the takeoff point, I'm using that at the waypoint start.
The actions "at" the waypoints were an after thought. The original code was written to use path actions (originally called markers) only, and they are based on the xy progress along the path, not z. When we added actions to the waypoints we did it by creating a hidden marker at the same coordinates as the waypoint.
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