Path generation on px4

[ash-anand]

I'm working on autonomous quadcopter with PixHawk 2 autopilot and RPi 3.
I want my quad to go to a certain point but follow a certain curve, like a circle or ellipse, and not directly.
I searched about waypoints but quad stops at each waypoint , turns and then goes to the next point.
Is there any method to make quad follow the waypoints without stopping ?

Thanks

[vooon]

You may stream setpoints to follow path.

[amanchandra333]

@vooon the generated path has to be smooth. Can't px4 itself generate waypoints to follow a particular curve between two points?

[vooon]

That is question for firmware devs.

[ash-anand]

@vooon Can we use waypoint msg for local setpoints instead of GPS lat and lon ?

[ash-anand]

@vooon Also is there a way to publish GPS data in OFFBOARD mode ?
I have tried publishing data on /mavros/setpoint_raw/global and /mavros/setpoint_raw/target_global but nothing happens and it gives warning CMD: Unexpected command 176, result 1.
Quad goes in AUTO.RTL mode soon after it

[vooon]

Look at firmware docs. But i don't think that mission with frame=LOCAL_NED cmd=NAV_WAYPOINT are supported.
Read about OFFBOARD mode! And read setpoint_raw docs.

[TSC21]

@ash-anand look at #728. Maybe the answer to your issue is there.