SELFI crash

[Dmitry]

Salfi does not work!
I press the triangle play, my solo stupidly turns away from me and all

 

[Pedals2Paddles]

The selfie smart shot has been somewhat dysfunctional for about a year now. Sometimes it works, sometimes it doesn't. Going through the logic of that shot's code on the companion computer is on my to-do list as I'm going through the ArduCopter master stuff. From my cursory glance a few weeks ago, I think I can simplify the execution and make it work properly eventually.

Today, the app is feeding it the current location as a starting point, a location calculated by the ending distance and altitude as an end point, and a location 8 meters directly ahead as where to point the camera. Then, in short, it is doing lots of math to calculate this pretty flight path. And even more math to control the gimbal angle. I'm haven't found where the bug is that causes the camera to yaw 90 degrees during the movement. My first preference is to find and fix that. If I can't, I might rewrite it to just use normal ArduCopter ROI and position/velocity messaging to make it do the same thing with less math.