Copter/Rover: maintain speed even when waypoints are placed close together

[rmackay9]

Copter/Rover SCurves has a limitation where it only looks forward two waypoints (e.g. the current waypoint and the next one) and for safety reasons it plans the maximum speed so that the vehicle can stop in time for the 2nd waypoint. This can lead to the vehicle unnecessarily slowing if the user places the waypoints close together. How "close" depends upon the WPNAV_ACCEL and WPNAV_JERK parameters.

We could reduce the user experienced slowdowns by enhancing SCurves to look further ahead.

[anand2532]

Can you plwase elaborate :

• Exact conditions causing unnecessary speed reduction
• Quantify performance impact with specific waypoint spacing scenarios
• Current SCurves implementation limitations in path planning