there will be a command executed, it’s not really a physical waypoint. These commands
include the following options: return to home, go to another waypoint, land and takeoff.
Since the addition of the “command waypoint” might cause confusion, users are advised to
get hands-on experience with simpler missions.
The Flight Speed variable inside the detailed waypoint list assigns a speed value that will be
executed after vehicle passes the waypoint. For example, if default Flight Speed is set to 5
m/s and it is re-set to 20 m/s at third waypoint, vehicle will start to increase its speed from
5 m/s to 20 ms/ as soon as it passes waypoint three. So the target flight speed between
waypoint 3 and waypoint 4 will be 20 m/s. Unless flight speed is reset back to 5 m/s at
waypoint 4, 20 m/s value will be passed to rest of the waypoints.
Tuning
ALTA X is pretuned by Freefly, and can be flown without changes. However, each user may
have a different preference or use case for their aircraft. This section gives some guidance
for how to tune some of the behaviors of the aircraft to suit individual needs. It is NOT
recommended to tune low-level control parameters, as they could cause instability or control
issues which could result in a crash.
Issue
Tuning Resolution
My aircraft is too
aggressive in manual
mode
Reduce MPC_MAN_TILT_MAX to 30-35 degrees. Do not reduce
it further as it may not be able to handle wind.
My aircraft is too fast in
position mode
Decrease MPC_VEL_MANUAL - this value defines the maximum
speed at full stick in position mode. If a more precise, slow
velocity is required, reducing this will cap the speed and give
more stick sensitivity at lower speed
Increase MC_XY_MAN_EXPO to decrease sensitivity for small
stick motions.
