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WPNAV_SPEED?

Posted by Joshua Montgomery on August 19, 2013 at 8:28am

I am using the Mission Planner and APM 3.0 to fly a hexacopter.

The Mission Planner docs say you can control the target speed between waypoints by setting WPNAV_SPEED, but this variable doesn't appear to be enabled in the newest Mission Planner.

Anyone know what replaces it?  Can I simply set it from the CLI?  If so, is is used?

I'd like to make the speed between waypoints as fast as possible (while keeping the unit stable) so I can reduce mission time / battery usage.  The goal is to run long distance missions (+2 Mile), but to do it I need to move this thing faster than the 5 Meters/Second it flies now.

Thanks in advance.

Josh

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Tags: mission, planner, wpnav_speed
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Replies

  • Ivan R October 8, 2015 at 3:37pm

    mine flies at 10m/s just fine using that setting for WPNAV_SPEED, but i havent tried faster than that only in stabilize mode

    • Stephen Boyle > Ivan R October 11, 2015 at 9:05am

      Thx Ivan.  We figured out that our wp_accel was too low so it was unable to break through the 10m/s threshold before starting to slow down for a stop.  Doubled the WP_ACCEL from 100 to 250 and now have obtained 15m/s.

  • Stephen Boyle October 7, 2015 at 3:57pm

    Did you get this sorted out?  I've been experimenting with the WPNAV->SPEED parameter and can get it to 1000cm/s but then it is artificially capped.  I can change the params to 1500cm/s and the logs show it goes to 1000cm/s and then maintains that max speed.

  • Admin
    Morli August 19, 2013 at 9:53am

    IMO Speed  means energy spent,  yes time spent will be reduced but is contrary to battery usage. So a balance of what you want to spend with time saved should merge some where in the graph . Cheers and good luck

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