Waypoint turn type
UgCS supports two turn types for VTOL vehicles (Multicopter and Heli): Straight waypoint and Spline waypoint. It is possible to choose a turn type for each Waypoint, Circle, and Perimeter. The default turn mode in the system is Straight type.
| Turn type | Support | Notes |
|---|---|---|
| Straight | Yes | The vehicle will fly a straight line to the location specified as a lat, lon and altitude. |
| Spline | Yes | 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. |
Note
• When using Spline turn type 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
50 meters.
• Different turn types for fixed-wing vehicles are not supported.
More information about turning mode and supported autopilots can be found here:
Updated about 2 years ago