Adjust Yaw rotation speed and smothness in wp missions with user controlled heading

[JacktheRipper]

@JacktheRipper

I’m going to focus on jerk minimization through a series of test flights varying anything I can think of, just to learn the possibilities

And I did do some flight test to examine ways to minimize, and the results are posted here:

I need Help With my Mini2 and Litchi App for IOS

Chris… I did not know that, thanks. So, to move things on a bit, I created two waypoint missions that circled my house, one square (no curves at waypoints, and one that used curves to simulate a circular path, at least for 3/4 of the route. I ran each at three speeds: 1.4, 2.8 and 3.6 Meters/Sec. All were done at 30 M altitude. All were focused at the center of the house at 2 M altitude for the entire route. The square was 45 M on a side, and the circular part of the curved path was 28 M radiu…