Multicopter waypoint mission flight smoothing

[cptX]

Current Behavior

I fly my multicopter to missions trying to get some nice videos. Unfortunately the multicopter jumps abruptly at every waypoint especially at terminal ones (eg waypoint 3 at my image). I have tried to find the parameters that affect this but didn't succeeded. With my fixed wing I increased the Loiter radius and the waypoint tracking accuracy to 8-9 and it really made the turnings smoother, but I cannot find any setting to make the flight smoother for the multicopter. Is it lack of documentation, lack of my knowledge or really lack of implementation?

Desired Behavior

Suggest or introduce ways or parameters to make the turns at waypoints smoother for multicopter mission flights.

Suggested Solution

Although I haven't yet dived in the INAV code, I image the solution as the following:
Introduce a parameter like "smoothing rate" only used during waypoint mission flights which could apply to the commanded rate of angle change of every axis (pitch, roll, yaw). This parameter could be a percentage of the target rates commanded from the fc to catch the target path. This would mean that the banking angle for example would change only at a x% rate of the max angle set up for the roll axis during turns. This should not affect the stability of the aircraft (should not affect the flight PID) , but only the commanded rate to move the aircraft to the needed path... Not sure if my words here have any implementational meaning but I needed to start from something.

[breadoven]

What do you mean by "jumped" at the waypoints ? You can change the speed behaviour at waypoints so it doesn't slow down abruptly then speed up again after turning ... can be turned off via setting nav_mc_wp_slowdown.

[cptX]

@breadoven the change of movement (especially roll and yaw) is very abrupt at the waypoints where it changes directions. It doesn't change direction like a human pilot would do, it just tries to change the direction very fast. I don't want to slowdown my forward velocity, I just want to make turns slower/smoother.

[breadoven]

nav_mc_wp_slowdown is ON by default so unless you've changed it to OFF it will slow down at turns giving the jerky behaviour. Set it to OFF and the turns should be smoother and more flowing.