Auto mode - yaw before accelerating

[dagar]

@bresch this was reported by a user with jerk limited trajectory enabled. Thoughts on achieving this yaw behavoiur with the current MPC?

What I am trying to do is create simple "back and forth" missions in order to test high speed flight of our systems. With MPC_AUTO_MODE=0 I get the behaviour where the system yaws towards the next waypoint before accelerating towards it. This is required in our case because the system was designed with minimum aerodynamic profile when flying in the forward direction. With MPC_AUTO_MODE=3 yaw motion occurs simultaneously with yaw.

To work around this issue I attempted to use the “Wait for Heading” type waypoint. However when I attempt to upload a mission with this type of waypoint I get:

“
Mission transfer failed. Retry transfer. Error: Vehicle returned error: Command is not supported (MAV_MISSION_UNSUPPORTED).

Command: (Wait for Heading, MAV_CMD_CONDITION_YAW, 115)
“

Is it possible to either alter the yaw behaviour in MPC_AUTO_MODE=3 or fix the wait for heading point type?

[stale]

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