{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/3729","repository_url":"https://api.github.com/repos/diydrones/ardupilot","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3729/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3729/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3729/events","html_url":"https://github.com/diydrones/ardupilot/issues/3729","id":139956555,"number":3729,"title":"Planet: Track course with wings level using rudder. ","user":{"login":"iskess","id":4913946,"avatar_url":"https://avatars.githubusercontent.com/u/4913946?v=3","gravatar_id":"","url":"https://api.github.com/users/iskess","html_url":"https://github.com/iskess","followers_url":"https://api.github.com/users/iskess/followers","following_url":"https://api.github.com/users/iskess/following{/other_user}","gists_url":"https://api.github.com/users/iskess/gists{/gist_id}","starred_url":"https://api.github.com/users/iskess/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/iskess/subscriptions","organizations_url":"https://api.github.com/users/iskess/orgs","repos_url":"https://api.github.com/users/iskess/repos","events_url":"https://api.github.com/users/iskess/events{/privacy}","received_events_url":"https://api.github.com/users/iskess/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2016-03-10T17:20:42Z","updated_at":"2016-03-10T18:12:27Z","closed_at":null,"body":"While mapping, the ailerons are working very hard to maintain the course which creates constant small adjustments to the bank angle. Depending on the camera settings and ambient conditions, this can create motion blur and requires a little extra sidelap to compensate for oblique imagery. In some circumstances it is ideal to capture the most nadir imagery possible, and gimbals in planes are very rare.  \r\nWhen mapping in full sized aircraft, a strategy often used for small course corrections is use the rudder to bracket back on course while using the ailerons to keep wings level. This is also common during an ILS approach. \r\nI think a similar method could be used here, for small lateral course corrections between waypoints. When the course correction required exceeds a certain value, ailerons will need to be blended in, until a point where they become the primary control surface. "},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/194982708","html_url":"https://github.com/diydrones/ardupilot/issues/3729#issuecomment-194982708","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3729","id":194982708,"user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"created_at":"2016-03-10T18:12:27Z","updated_at":"2016-03-10T18:12:27Z","body":"it basically ruins the flight stability of the aircraft. Turns and wind tolerance are gone. You might as well just turn TECS_TIME_CONST = 10 which will give you a similar effect (to all flight surfaces). Or set PTCH2SRV_TCONST and RLL2SRV_TCONST high and STEER2SRV_TCONST low. It gives you the same effect but creates a lousy flight generally."}}