Waypoint Acceleration (WP_ACCEL)

Description

WP_ACCEL determines how aggressively the vehicle speeds up and slows down during an autonomous mission.

• Higher Value: Faster acceleration and more "snappy" starts/stops.
• Lower Value: Smoother, more gradual transitions.

Tuning & Behavior

• Default: 0.
• Fallback: If set to 0, the autopilot uses the value from the attitude controller (ATC_ACCEL_MAX).
• Recommendation: Use 2.0 to 5.0 for a smooth but responsive Rover.

Waypoint Navigation Jerk Limit (WP_JERK)

Description

WP_JERK defines the "Smoothness" of your drone's speed changes during autonomous missions.

ArduPilot uses S-curve path planning to move between waypoints. Unlike older "step" changes in speed, S-curves ramp acceleration up and down gradually. This parameter sets the limit for that ramp (the derivative of acceleration).

• Higher Value: Faster, snappier acceleration and braking.
• Lower Value: More "graceful," cinematographic movements.
• 0: (Default). The autopilot sets the jerk limit to match the maximum acceleration (WP_ACCEL).

Tuning & Behavior

• Recommendation: Leave at 0 for most applications.
• Usage: For heavy lifting or filming drones, you can set this to a lower value (e.g. 1.0 or 2.0) to prevent sudden jerks that could cause gimbal vibration or payload swinging.

Waypoint Maximum Radius (WP_MAX_RADIUS)

Description

Safety limit to prevent the aircraft from indefinitely circling a waypoint it cannot reach.

Tuning & Behavior

• Default Value: 0 m (Disabled)
• Range: 0 1000 m

Minimum navigation altitude (WP_NAVALT_MIN)

Description

Minimum altitude for navigation to begin.

Tuning & Behavior

• Default Value: 0
• Range: 0 5

Pivot Turn Threshold Angle (WP_PIVOT_ANGLE)

Description

WP_PIVOT_ANGLE determines when a Rover or Boat should stop and spin in place rather than trying to make a wide arc turn.

This is only used for Skid-Steer (tank-like) vehicles. If the turn required to reach the next waypoint is sharper than this angle, the vehicle will come to a complete halt, spin until its nose points at the target, and then resume driving forward.

• 0: Disabled. The vehicle always attempts a wide steering turn.
• 60 (Default): Standard for most rovers.

Tuning & Behavior

• Recommendation: Set between 45 and 90 degrees.
• Significance: Prevents the vehicle from making massive, uncontrolled "S-turns" when trying to reach a waypoint that is behind it or at a sharp angle.

Pivot Turn Pause Delay (WP_PIVOT_DELAY)

Description

WP_PIVOT_DELAY introduces a brief "Rest" after a Rover or Boat spins on the spot.

Pivot turns can be aggressive and cause the vehicle to shake or the GPS heading to become slightly noisy. This delay allows the mechanical momentum to dissipate and the navigation filters to settle before the vehicle applies forward power.

Tuning & Behavior

• Default: 0 seconds (No delay).
• Recommendation: Use 0.5 or 1.0 seconds if your rover tends to "wobble" or depart from the track immediately after finishing a pivot turn.

Pivot Turn Max Rate (WP_PIVOT_RATE)

Description

WP_PIVOT_RATE sets the "Spin Speed" for on-the-spot turns.

This is the target angular velocity the rover attempts to maintain while it is performing a pivot turn (stopped in one place).

Tuning & Behavior

• Default: 60 $deg/s$.
• Recommendation: If your rover spins too violently and slips its treads/wheels, decrease this to 30 or 40. If the turn feels sluggish, increase it.

Waypoint Radius (WP_RADIUS)

Description

Defines the distance from a waypoint at which the aircraft considers the waypoint reached and transitions to the next leg of the mission.

Tuning & Behavior

• Default Value: 90 m (Plane), 200 cm (Copter - internal WPNAV_RADIUS)
• Range: 1 to 12700 m
• A larger WP_RADIUS usually leads to smoother turns and better tracking in windy conditions.

Waypoint Speed (WP_SPEED)

Description

WP_SPEED sets the "Cruise Control" for your vehicle during an autonomous mission.

It defines how fast the drone or rover attempts to travel between waypoints. Individual waypoints can have their own speed settings in the mission file, but WP_SPEED is the value used if no specific speed is provided.

• Standard Setting: 2.0 m/s to 5.0 m/s for Rovers. 5.0 m/s to 15.0 m/s for Multicopters.

Tuning & Behavior

• Default: 2.0 m/s.
• Recommendation: Set this to a speed that allows your vehicle to maneuver comfortably. If the vehicle "overshoots" waypoints or oscillates at high speed, reduce this value or increase WP_RADIUS.
• Dynamic Adjustment: You can change this speed in real-time during a mission using a MAVLink "Change Speed" command from the GCS.

Waypoint Yaw Behavior (WP_YAW_BEHAVIOR)

Description

WP_YAW_BEHAVIOR tells the drone where to "Look" while it's flying a mission.

• 0: Never Change. The drone maintains whatever heading it had when the mission started.
• 1: Face Next Waypoint (Default). The drone always points its nose toward the destination waypoint. (Most natural for FPV and forward-flight performance).
• 2: Face Next Waypoint except RTL. Same as 1, but when returning home, the drone maintains its current heading.
• 3: Face Along GPS Track. The drone points in the direction it is physically moving.

Tuning & Behavior

• Default: 1.
• Recommendation: Use 1 (Face Next Waypoint) for most missions. If you are performing a mapping mission and want the camera to stay oriented in one direction regardless of the flight path, use 0 (Never Change).