breadoven

It does make you wonder why you'd want to use error for the D term when it just seems to cause problems ... or in this case makes the PID...

> @breadoven what do you think about this one? Didn't have too good a look at it so can't really be sure at the moment.

Seems I might have an interest in looking at this or general issues related to contradictions between estimated Z position and Z velocities after crashing a quad yesterday. The crash...

Having looked at this PR I can't help but think it would be better if the new setting was just applicable for use in Surface mode rather than be applied...

What do you mean by "jumped" at the waypoints ? You can change the speed behaviour at waypoints so it doesn't slow down abruptly then speed up again after turning...

`nav_mc_wp_slowdown `is ON by default so unless you've changed it to OFF it will slow down at turns giving the jerky behaviour. Set it to OFF and the turns should...

> Hi! It seems like I'm having the same problem, the turns for my multirotor are way too sharp, especially if i want it to cruise at a fairly high...

Would be useful if you can provide a settings Diff and the WP mission being flown.

I didn't do anything about the turn smoothing issue. Not sure what the answer is there. As you say, the control is there to achieve what you want but getting...

Actually I forgot that CUT turn smoothing doesn't use the circular loiter code it simply switches to the next waypoint at some distance before reaching the current waypoint. The distance...