Mavsdk: traceMode feature like DJI

[dangviethieu]

Hello all. Please help me with the question.
In DJI, they have the mission mode: traceMode, that is smooth transition between waypoints.
https://developer.dji.com/onboard-api-reference/structDJI_1_1OSDK_1_1WayPointInitSettings.html#a0f2517fd1775e16675921b8b62b919ef
And this is demo: https://gyazo.com/a724d2ba73a51775cc6c37ed23dc29b1
So I wonder that MAVSDK is have the feature same that?

[julianoes]

What exactly are you trying to achieve? If you need to stop at a waypoint in order to take a picture, yes we already have that. You can use fly_through = false and set a camera action, e.g. TAKE_PICTURE.

[dangviethieu]

@julianoes Thank you very much about quickly reply!

I mean the DJI has the flights mode like: drone will not reach at waypoint, it will fly through the curve corner with the distance as input value. It look like the VTOL mode.

[julianoes]

Aha, I think now I understand. We have several waypoint smoothing mechanisms. I don't know much about it but I'm hoping that @bresch can help here.

[dangviethieu]

Hi @bresch @julianoes . I try research about smoothing mechanisms of several waypoint.

I found that we can use the key: acceptance_radius_m, it look like curve corner when drone reach at waypoints. I try changed it, but the result isn't as expected.
Please help me understand more about smoothing mechanisms if we have it? Thanks you very much !!!

[bresch]

@julianoes @dangviethieu if you want a nicer curve, you need to increase the acceptance radius more than 3m, you could try larger values (10m for example).

[julianoes]

Closing this as the behaviour can be achieved as @bresch writes above in https://github.com/mavlink/MAVSDK/issues/897#issuecomment-594594163.