I was wondering if anyone had done any work on orbiting or managing turns? I prototyped an idea I had last night about orbiting waypoints and realized the same algorithm works for turn prediction.
On my autopilot I have running a drift compensation routine that maps the desired location of the plane onto a line connecting the old waypoint and the next waypoint. I simply look ahead 10% farther on that line and steer toward that point instead of the actual waypoint. This helps me regain course when I'm blown off or miss it entirely.
In my simulator I added a check to see which side the next WP is -right or left- and I use a vector rotated 90° to the plane bearing to offset the WP to the left or right. This vector also allows me to orbit the target.
Here are some diagrams and a shot from the simulator showing the orbit. If anyone has done this before I'd love to hear about how it went. I hope to fly it this weekend if my replacement ESC ships by Friday.
A screen grab from the SIM
Click to view Flash sim