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Hi Guys,

I want to know if someone has achieved something like this with the quadcopter 'at a waypoint' before moving to the next waypoint. '0' in the figure below indicates the waypoint and adjacent curves are path the quad circles around this waypoint (0).

What I want to achieve is:

1) Reach a waypoint (WP) and instruct/ pre-program my copter to go around the waypoint following path of a spiral in real-time. I must be able to choose the radius of the spiral and thus, it would decide by itself how many turns it needs to make. It is a pure math computation to do this. After a timeout it moves to the next waypoint/ home.

2)  What I am looking for is some input on how to achieve this? Can someone (developer) point me as to what area I can analyze/ edit in source code in order to achieve this requirement in Arducopter?

i.e. this can only be done after reaching a waypoint, of course.

Any inputs are appreciated. This is applicable to Arducopter, Helicopter and ArduPlane alike.

Thank you,

Shyam