Straighten waylines

[ivangayton]

Waylines can be made to not wiggle without extra waypoints

We have been doing a lot of extra work, and adding lots of extra waypoints, to avoid the DJI Mini 4 Pro wanting to fly in a curved path. @smathermather and I have been experimenting with the WayPoint Markup Language (.wpml) to avoid this, and we've found the following parameters that seem to produce nice rectilinear flight plans:

<?xml version='1.0' encoding='UTF-8'?>
<kml
	xmlns="http://www.opengis.net/kml/2.2"
	xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
	<Document>
		<wpml:missionConfig>
			<wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
			<wpml:finishAction>goHome</wpml:finishAction>
			<wpml:exitOnRCLost>goContinue</wpml:exitOnRCLost>
			<wpml:executeRCLostAction>hover</wpml:executeRCLostAction>
			<wpml:globalTransitionalSpeed>2.5</wpml:globalTransitionalSpeed>
			<wpml:globalRTHHeight>118.8</wpml:globalRTHHeight>
			<wpml:droneInfo>
				<wpml:droneEnumValue>68</wpml:droneEnumValue>
				<wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
			</wpml:droneInfo>
		</wpml:missionConfig>
		<Folder>
			<wpml:templateId>0</wpml:templateId>
			<wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
			<wpml:waylineId>0</wpml:waylineId>
			<wpml:distance>0</wpml:distance>
			<wpml:duration>0</wpml:duration>
			<wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
			<wpml:globalUseStraightLine>1</wpml:globalUseStraightLine>
			<wpml:autoFlightSpeed>2.5</wpml:autoFlightSpeed>
			<Placemark>

Specifically note these lines:

<wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
<wpml:globalUseStraightLine>1</wpml:globalUseStraightLine>

In our .wpml previously, the globalUseStraightLine parameter has been set to 0. I've set it to 1, and I get a square-looking flight path.

I haven't actually flown these yet as it's raining, but in the controller it shows a square path, whereas before it showed a wiggly path.

Pending some actual tests, I suggest we modify our mission config parameters to this setting.

With luck, we might be able to stop using the extra waypoints to avoid the rotated photos!