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ArduPilot / MissionPlanner

Mission Planner Ground Control Station for ArduPilot (c# .net)
http://ardupilot.org/planner/
GNU General Public License v3.0
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[request] Survey (Grid) Jump two lines to get a bigger turning radius #506

Open Yups1337 opened 10 years ago

Yups1337 commented 10 years ago

hey folks!

This is my second request to improve the Survey capabilities with MissionPlanner and Arduplane.

To get a good GroudSampleDistance you have to fly at low altitudes (~100m) and the MissionLines very close to each other, about 30-50m. With a regular plane you have a turning radius about 75m. If you want to get a good turn, the lines must have a distance of 150m. This is far to much!

turningproblem Screenshot of a testmission. You can see that the turning circle is much bigger than the line distance. The plane has big problems to fly on its flightpath!!

But you could jump over to the next or even more.

mp2

This could be a solution. Not perfect but way better than the regular mission design. What do you think?

Edit: ReMapHI has a better description for the flight pattern, it is called zamboni pattern. Here is a screenshot by SteveJoyce kmloverlay

bbasso commented 10 years ago

Have you seen the Survey (Grid) feature in Mission Planner.

It is designed to help you make this tradeoff between altitude, airspeed, camera, etc.

Check out the OverShoot feature in the Grid Options tab. It is essentially a fake path planner, which accounts for the fact that fixed-wing aircraft have a non-zero turning radius.

[image: Inline image 1]

-Brandon

Brandon Basso, PhD :: Senior Research and Development Engineer :: 3D Robotics :: Berkeley, CA

On Thu, Jul 3, 2014 at 1:34 PM, Yups1337 notifications@github.com wrote:

hey folks!

This is my second request to improve the Survey capabilities with MissionPlanner and Arduplane.

To get a good GroudSampleDistance you have to fly at low altitudes (~100m) and the MissionLines very close to each other, about 30-50m. With a regular plane you have a turning radius about 75m. If you want to get a good turn, the lines must have a distance of 150m. This is far to much!

[image: turningproblem] https://cloud.githubusercontent.com/assets/3913687/3475423/b895c13a-02f0-11e4-8eb1-dff7677c127e.jpg Screenshot of a testmission. You can see that the turning circle is much bigger than the line distance. The plane has big problems to fly on its flightpath!!

But you could jump over to the next or even more.

[image: mp2] https://cloud.githubusercontent.com/assets/3913687/3475440/0f1ff818-02f1-11e4-951c-f1b1fa07bb0c.jpg

This could be a solution. Not perfect but way better than the regular mission design. What do you think?

Reply to this email directly or view it on GitHub https://github.com/diydrones/MissionPlanner/issues/506.

ReMapHI commented 10 years ago

I'd like to second that request. It's called a Zamboni pattern--see description here: http://osdir.com/ml/Paparazzi-devel/2012-11/msg00030.html This could also be useful for photos to be taken only in one direction, for example, to prevent the camera from having to trigger faster during downwind vs. upwind runs.

Although the overshoot feature is helpful, it would be better to have the flight line extension occur before entering the survey polygon rather than after exiting it. That way, the plane is already lining up at the beginning of the flight line, rather than making another slight turn as it enters the survey polygon.

iskess commented 10 years ago

+1, this would be a great option! Much more efficient, requires shallower bank angles, = slower speeds = shorter trigg distance = higher resolution.

Yups1337 commented 10 years ago

@bbasso Thanks for your reply! I Already tried the overshoot feature (first picture). The street is the border of the survey area. As ReMapHI mentioned, it is helpful but the plane has not the right flight-direction when entering the survey polygon again.

I think the "Zamboni Pattern" is much better than my idea. I will edit my first post. Maybe with an extra feature to fly only in one direction if needed.

bbasso commented 10 years ago

@Yups1337 That picture you added helps a lot--seems like an Idea worth trying!

I think I like the idea of modifying the overshoot feature to force the aircraft to enter the survey area along a track line, rather than turned. The zamboni pattern can help with this too, but it sure looks like the aircraft would spend a good amount of time outside of the box since it is doubling back on itself quite a bit. It would be interesting to plan two identical missions, one lawnmower (with overshoot fixed) and one zamboni, and compare the linear distance traveled.

iskess commented 9 years ago

It looks like the Zamboni pattern was finally added by Pull Request #777