Andrew Tridgell
babdb3625a
Plane: moved assign tilt to the run() function
...
this prevents double calling and fixes qhover
2023-09-27 11:43:45 +10:00
Paul Riseborough
2f0bbf14a4
Plane: fix metadata units for Q_FWD_PIT_LIM
2023-09-27 11:43:45 +10:00
Paul Riseborough
3866f2b4b5
Plane: Rework pitch limiting in QuadPlane::assign_tilt_to_fwd_thr
...
Don't unnecessarily increase the forward pitch limit when position control forward action is saturated.
2023-09-27 11:43:45 +10:00
Paul Riseborough
acf8dbaeee
Plane: Add diagnostics logging to QuadPlane::assign_tilt_to_fwd_thr
2023-09-27 11:43:45 +10:00
Paul Riseborough
fa5aef050c
Plane: Restructure throttle scaling and pitch limiting to enable logging
2023-09-27 11:43:45 +10:00
Paul Riseborough
fb7c383946
Plane: Prevent quadplane.assign_tilt_to_fwd_thr() being called twice
2023-09-27 11:43:45 +10:00
Paul Riseborough
c2d6db13ec
Plane: explicitly type cast pitch limit
2023-09-27 11:43:45 +10:00
Paul Riseborough
90eacaeb88
Plane: fix centi-degree scaling bug
2023-09-27 11:43:45 +10:00
Paul Riseborough
da595bbf88
Plane: Add protection for failed quadplane forward thrust motor
2023-09-27 11:43:45 +10:00
Andrew Tridgell
e3ce7d966b
Plane: fixes from review
2023-09-27 11:43:45 +10:00
Andrew Tridgell
573de2fc17
Plane: implement methods for aux switch control of vfwd code
...
and use a common function for the active method
2023-09-27 11:43:45 +10:00
Paul Riseborough
4993dcb814
Plane: Remove duplicated parameter check
2023-09-27 11:43:45 +10:00
Paul Riseborough
f834d4730b
Plane: Add Q_FWD_THR_GAIN to table of transmitter tuning parameters
2023-09-27 11:43:45 +10:00
Paul Riseborough
6ad7588857
Plane: Add arming check for incompatible Q_VFWD_GAIN and Q_FWD_THR_USE
2023-09-27 11:43:45 +10:00
Paul Riseborough
daea00168b
Plane: Use Q_FWD_THR_USE parameter to control modes that use Q_FWD_THR_GAIN
2023-09-27 11:43:45 +10:00
Paul Riseborough
ed91d428e1
Plane: Default Q_FWD_THR_GAIN to 0 and update meta data
2023-09-27 11:43:45 +10:00
Paul Riseborough
7bbd0ed74e
Plane: prevent wind up of Q-mode velocity controller I term
2023-09-27 11:43:45 +10:00
Paul Riseborough
b3a1807349
Plane: Fix use of q_fwd_nav_pitch_lim_cd class variable
2023-09-27 11:43:45 +10:00
Paul Riseborough
16895003df
Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr
2023-09-27 11:43:45 +10:00
Paul Riseborough
57cfe854b2
Plane: Add Q_FWD_THR_GAIN value arming check for tailsitters
2023-09-27 11:43:45 +10:00
Paul Riseborough
04e5f6b5f6
Plane: use forward tilt instead of forward throttle when close to ground
2023-09-27 11:43:45 +10:00
Paul Riseborough
8988de3c7c
Plane: Allow non positive values of Q_FWD_PIT_LIM to be used
2023-09-27 11:43:45 +10:00
Paul Riseborough
e866998b21
Plane: Rename q_fwd_tilt_lim to q_fwd_pitch_lim
2023-09-27 11:43:45 +10:00
Paul Riseborough
c15bb3f1e3
Plane: remove code that can never run
2023-09-27 11:43:45 +10:00
Paul Riseborough
98220c7315
Plane: Handle reset of q_fwd_throttle in QuadPlane::mode_enter(void)
2023-09-27 11:43:45 +10:00
Paul Riseborough
2d3431a1ac
Plane: Improve use of forward flight motors and tilting rotors in Q modes
2023-09-27 11:43:45 +10:00
Peter Barker
93da99bea2
Plane: adjust for a lack of DCM
2023-09-27 08:00:54 +10:00
Andrew Tridgell
2b2d4b8087
Plane: release notes for 4.4.1
2023-09-26 13:26:01 +10:00
Peter Barker
c726dec834
ArduPlane: remove COMPASS_CAL messages from streamrates if tumble cal disabled
...
fatal error in SITL if we try to send messages with these disabled
2023-09-26 11:39:50 +10:00
Peter Barker
11ffb059ae
Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int
2023-09-26 11:36:57 +10:00
Iampete1
665ba38cdb
Plane: update PID logger documentation
2023-09-26 10:41:05 +10:00
Henry Wurzburg
f5beb4772d
ArduPlane: correct/expand param metadata re synth airspeed
2023-09-26 09:04:51 +10:00
Henry Wurzburg
97f4f99a89
Plane:clarify CTUN.SAs message meaning
2023-09-26 09:03:35 +10:00
Peter Barker
fbb0601408
Plane: use AP_TUNING_ENABLED
2023-09-21 07:07:58 +10:00
Peter Barker
fc722b5efc
AP_Tuning: add and use AP_TUNING_ENABLED
2023-09-21 07:07:58 +10:00
Peter Barker
63c88fea58
Plane: handle DO_PARACHUTE as both COMMAND_LONG and COMMAND_INT
2023-09-20 17:37:59 +10:00
Peter Barker
06f1ac07bc
Plane: accept motor test as both command long and command int
2023-09-19 20:31:03 +10:00
Iampete1
fa1c5f62aa
Plane: Tailsitter: use motor I term for pitch in assist if not surfaces are setup
2023-09-19 09:35:19 +10:00
Randy Mackay
1572520913
Plane: 4.4.1-beta2 release notes
2023-09-14 17:18:47 +10:00
Peter Barker
ee316f04ed
Plane: allow DO_VTOL_TRANSITION as both LONG and INT commands
2023-09-13 21:25:14 +10:00
Peter Barker
a1b021e833
Plane: move nav_delay state to be private in ModeAuto
2023-09-13 18:08:10 +10:00
Andy Piper
f25e67e3eb
Plane: add option to scale FF in VTOL modes based on ratio of angle gains
2023-09-13 18:02:44 +10:00
Peter Barker
c1b5e9a446
ArduPlane: support preflight calibration via command_int
2023-09-13 17:24:07 +10:00
Peter Barker
445f1fa272
Plane: handle DO_CHANGE_SPEED as COMMAND_INT
2023-09-12 09:22:36 +10:00
Ep Pravitra
9700e65d19
AP_AdvancedFailsafe: option to automatically set mode to auto when datalink is loss
...
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
2023-09-12 09:09:39 +10:00
Henry Wurzburg
e1d91e3007
Plane:add taildrag holdown to TAKEOFF mode
2023-09-11 09:16:02 +10:00
Andrew Tridgell
94201f12c6
Plane: use deadzone in stick mixing
...
this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
2023-09-10 12:25:40 +10:00
Henry Wurzburg
ed21c49975
Plane:correct TKOFF_DIST metadata
2023-09-07 00:49:58 -07:00
Andrew Tridgell
68896c6a50
Plane: release notes for 4.4.1-beta1
2023-09-05 20:16:02 +10:00
Andrew Tridgell
9d98244730
Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff
...
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
2023-09-03 09:51:24 +10:00
Peter Barker
4103d5cdb9
Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT
2023-08-29 11:48:24 +10:00
Andy Piper
15655a9c24
Plane: add AUTOTUNE_OPTIONS flags to allow filter updates to be disabled
2023-08-23 18:06:22 +10:00
Andrew Tridgell
56dcad3cc2
Plane: dummy AP_ExternalControl implementation
2023-08-22 18:21:23 +10:00
Peter Barker
7df3d29e9d
ArduPlane: pass mavlink_message_t to handle_command_*_packet
...
the "special case" blocks are getting longer and longer. Merge the switch statements for the command type to be handled by passing around the message.
2023-08-22 10:11:33 +10:00
Andrew Tridgell
5e61bfe54c
Plane: release notes from 4.4.0
2023-08-18 18:31:32 +10:00
Shiv Tyagi
ecdc036eb6
Plane: use AP_FOLLOW_ENABLED
2023-08-15 09:57:35 +10:00
Andrew Tridgell
fdccfe7afa
Plane: update release notes for 4.4.0beta5
2023-08-12 16:31:58 +10:00
arshPratap
5f17e33b39
AP_Arming: Added DDS Method for Arming/Disarming
2023-08-11 13:35:49 +10:00
Henry Wurzburg
e9414d69ff
ArduPlane: add failsafe protections to Mode Takeoff
2023-08-09 17:33:58 +10:00
Henry Wurzburg
d8e205dd39
Plane:disarm on parachute release FS
2023-08-08 11:38:45 +10:00
Nicholas Ionata
da30f0b418
Plane: reset target altitude time on mode enter
2023-08-08 11:04:41 +10:00
Peter Hall
83339c9088
Plane: add steering to AETR log msg
2023-08-05 08:41:05 +10:00
Iampete1
045cde5fcf
Plane: output rudder and steering directly removing steering_control struct
2023-08-05 08:41:05 +10:00
Andrew Tridgell
2e2c7b50ad
Plane: cope with home altitude change while navigating
...
this fixes a bug where a change of home altitude would cause a sudden
height demand change. This copes with 3 situations:
- flying with AMSL alt demand. Changing home altitude makes for no change
- flying with AGL alt demand. Changing home altitude requires update of next_WP_loc
- flying with home relative alt demand. Changing home altitude changes demand at end of current navigation leg
2023-08-05 08:31:02 +10:00
Henry Wurzburg
ae5d04b696
Plane:correct metatdata for Q_YAW_ANGLE param
2023-08-03 00:11:08 -07:00
Peter Barker
925ac9bc4e
ArduPlane: eliminate use of MINIMIZE_FEATURES for Plane features
2023-08-02 17:48:25 +10:00
Andrew Tridgell
432fd28c45
Plane: update release notes for 4.4.0-beta4
2023-08-01 17:49:38 +10:00
Peter Barker
5c7e22debb
ArduPlane: correct return error return codes for DO_FOLLOW
...
in the case it wasn't compiled in the return code would be correct.
in the case that the parameter was invalid we would return FAILED, which is wrong, it should be DENIED
2023-08-01 10:43:34 +10:00
Peter Barker
354e3fa5bf
Plane: rely on conversion from long to int for DO_FOLLOW
...
we have code which tries to handle commands coming in as command long as command int.
Change to rely on that code working, rather than handling both command-long and command-int variants
2023-08-01 10:43:34 +10:00
Peter Barker
2cec1204d0
ArduPlane: trim LogStructure base off included code
2023-08-01 10:07:28 +10:00
Iampete1
e194cb704c
Plane: fix throttle going bellow min in fbwa RC failsafe
2023-07-26 18:30:49 +10:00
Randy Mackay
84752fbeaa
Plane: log MNT at 10hz
2023-07-26 17:33:18 +10:00
Henry Wurzburg
9dbcce4460
Plane:expand log metadata for QTUN
2023-07-25 00:04:17 +01:00
Andy Piper
761c7a0161
ArduPlane: fix incorrect float conversion
2023-07-18 11:06:02 +10:00
Andy Piper
49096422e7
Plane: allow notch frequencies to be logged at full rate
2023-07-18 11:03:47 +10:00
Michael du Breuil
a8102d6662
Plane: On vtol landings if from a mission perform crosstracking
2023-07-18 10:44:11 +10:00
Andrew Tridgell
435a83f106
ArduPlane: removed set_blocking_writes_all calls
2023-07-12 17:06:02 +10:00
Andrew Tridgell
a57647e3b4
Plane: update release notes
2023-07-04 16:19:36 +10:00
Tom Pittenger
606ef1b269
Plane: is_landing/is_taking_off not to req scripting
2023-07-03 22:44:00 -07:00
Andrew Tridgell
b271a20e97
Plane: update release notes for 4.4.0beta3
2023-07-04 14:02:01 +10:00
Iampete1
f89563f987
Plane: Training: output rudder from mode run function
2023-07-04 10:44:13 +10:00
Andrew Tridgell
40ce471fec
Plane: fixed transition started airspeed message
...
this message was lost in recent refactoring
2023-07-04 07:22:01 +10:00
Andrew Tridgell
086d0907dd
Plane: fixed TECS state reset in VTOL auto
...
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.
Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
2023-07-03 07:03:14 +10:00
Henry Wurzburg
979d810912
ArduPlane: allow scaled passthru to go to trim on rc failsafe
2023-06-29 21:37:12 +10:00
Iampete1
61682f6551
Plane: implement FLTMODE_GCSBLOCK bitmask
2023-06-28 12:56:25 +01:00
Andrew Tridgell
ccd38ddee0
Plane: improved fwd throttle during VTOL landing
...
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up
This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set
The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.
To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
2023-06-27 11:40:55 +10:00
Henry Wurzburg
3f7f7cd3a1
Plane:remove duplication in setting servos in MANUAL
2023-06-27 11:04:53 +10:00
Iampete1
6b106c401c
Plane: Quadplane: check with motors if motor test is allowed
2023-06-27 10:24:15 +10:00
Tom Pittenger
4eeb1f18d3
Plane: fixup is_landing and is_taking_off members
2023-06-26 06:54:56 -07:00
Zach Flathers
b35b94f553
Plane: update based on PR feedback
2023-06-26 06:54:56 -07:00
Zach Flathers
6177cbbfe2
Plane: Add is_landing/is_taking_off scripting support
2023-06-26 06:54:56 -07:00
Iampete1
2f4b617464
Plane: remove SYS_NUM_RESETS, replaced by STAT_BOOTCNT
2023-06-20 11:10:36 +10:00
Peter Barker
9d3ebf0d54
ArduPlane: add option to disable relay and servorelay libraries
2023-06-20 09:36:39 +10:00
bugobliterator
f3159eeb58
ArduPlane: move sysid_my_gcs to be public
2023-06-17 14:49:22 +10:00
Paul Riseborough
c92f71842b
ArduPlane: Enable ground speed undershoot correction without GPS
...
The code had a bug where if GPS fix was lost, the demanded airspeed would be set to the measured or estimated airspeed causing unpredictable variations in the demanded airspeed.
This patch prevents the minimum ground speed protection speed up from running if the ground speed undershoot cannot be calculated.
This patch extends the range of conditions over which the minimum ground speed functionality can be used by enabling the ground speed undershoot to be calculated when the navigation system is able to estimate velocity.
2023-06-15 08:59:02 +10:00
Andrew Tridgell
a80e0fe11a
Plane: release notes for 4.4.0-beta2
2023-06-08 18:48:10 +10:00
Andrew Tridgell
425603b883
Plane: final release notes for 4.3.7
2023-05-31 11:35:26 +10:00
Andrew Tridgell
1ecd943769
Plane: fixed AP_ICEngine constructor call
...
now uses singleton
2023-05-30 07:29:55 +10:00
Andrew Tridgell
890c0844d0
Plane: release notes for 4.3.7-beta1
2023-05-24 20:05:25 +10:00
Iampete1
2254252aff
Plane: move mode manual reset into run function removing manual early return
2023-05-24 18:19:53 +10:00
Iampete1
0d6d16d4e4
Plane: Quadplane: move modes fully to run function
2023-05-23 09:52:55 +10:00
Henry Wurzburg
641b086c0f
Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering
2023-05-20 08:52:47 +10:00
Paul Riseborough
52743787b2
Plane: Fix bug that can cause early exit from loiter to alt and time wp's
...
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
2023-05-18 02:35:47 -07:00
Andrew Tridgell
6870a15280
Plane: implement AP_PLANE_BLACKBOX_LOGGING
...
this allows for auto-arming of plane when we reach a specified 3D GPS
speed. Used for blackbox logging of F3A maneuvers
2023-05-18 12:59:09 +10:00
Peter Barker
59bc070555
ArduPlane: move call of notify.update up to AP_Vehicle
2023-05-17 18:41:15 +10:00
Iampete1
a20841e166
Plane: correct AETR log description ranges
2023-05-10 17:28:49 +10:00
Iampete1
4ca071045c
Plane: move defualt attitude control to base class
2023-05-02 09:29:40 +10:00
Iampete1
6111e9d9db
Plane: move Stabilize functions into mode
2023-05-02 09:29:40 +10:00
Iampete1
bb80881c10
Plane: don't trigger RC failsafe until RC has been received for the first time
2023-05-02 09:11:18 +10:00
Michael du Breuil
24c5fe54df
Plane: Support a long failsafe that goes straight to auto
...
This is very useful with an aircraft that is expected to be autonomously
operating in auto from takeoff to landing. It is convient to have a GCS
connected or RC, but the loss of either isn't considered a reason to
terminate the mission.
2023-04-28 09:37:12 +10:00
Randy Mackay
238d3354cc
Plane: version to 4.5.0-dev
2023-04-26 17:45:52 +10:00
Henry Wurzburg
b4c79c9105
Plane:add FlightOptions helper
2023-04-26 17:35:25 +10:00
Henry Wurzburg
c6a822abe1
Plane: fix error in Qplane wait for rudder neutral
2023-04-25 10:27:21 +10:00
Iampete1
74e4466cb4
Plane: use dedicated quadplane function for stick mixing enable
2023-04-25 10:06:50 +10:00
Henry Wurzburg
1415418d6e
Plane:Takeoff on rudder arm only after return to neutral
2023-04-25 09:28:45 +10:00
Mirko Denecke
eb6c5aa7d3
ArduPlane: remove unused update_transition() definition
2023-04-25 09:10:11 +10:00
Andrew Tridgell
e8b740df51
Plane: release notes for 4.4.0beta1
2023-04-21 09:52:55 +10:00
Peter Barker
068443718e
GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message
...
The mavlink command MAV_CMD_DO_SET_MISSION_CURRENT has been in place since January 2019 and is superior to this.
2023-04-18 10:24:26 +10:00
Iampete1
5ec479579f
Plane: move guided roll, pitch and throttle overrides upto guided mode
2023-04-18 09:36:06 +10:00
Iampete1
5f56a603a8
Plane: Quadplane: use new motors thrust linearization, don't send air density ratio
2023-04-18 09:32:22 +10:00
Peter Barker
57d3ebf123
ArduPlane: make Plane use more of RC_Channel library for mode switching
2023-04-18 09:19:20 +10:00
Tom Pittenger
8a530ee0a6
Tools: move AP_KDECAN build to AP_Vehicle
2023-04-17 11:52:52 +10:00
Peter Barker
43c6bb3864
ArduPlane: AP_Arming ensures mission items present when in auto mode
...
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
2023-04-14 07:49:54 +10:00
Peter Barker
98e2782851
Plane: correct compilation when AP_Rally disabled
2023-04-10 16:37:42 -07:00
Henry Wurzburg
c86c89f05c
ArduPlane: move estop pre-arm to AP_Arming and add exception
2023-04-11 09:24:06 +10:00
Henry Wurzburg
21d7a8102e
Plane:allow airbrakes to be used
2023-04-04 09:41:53 +10:00
Nick Exton
674d7facde
Plane: Use Location::same_loc_as() in QuadPlane::waypoint_controller()
2023-04-04 09:40:45 +10:00
Nick Exton
6a2bfeb3dd
Plane: Use new Location::same_loc_as() function
2023-04-04 09:40:45 +10:00
Andrew Tridgell
3d3cd435c2
Plane: release notes for 4.3.5
2023-03-26 16:45:38 +11:00
Andrew Tridgell
467cb75e95
Plane: release notes for 4.3.5beta1
2023-03-24 13:42:11 +11:00
bugobliterator
75aaebc758
ArduPlane: change INS_ to INS
2023-03-21 10:04:16 +11:00
Tom Pittenger
3ac55f97b1
Plane generalize Aux Switch VTOL abort for any plane abort landings
2023-03-15 13:31:43 -07:00
Henry Wurzburg
a86ff90b97
ArduPlane: add AUTO VTOL landing abort AUX sw
2023-03-14 10:52:23 +11:00
Randy Mackay
c12e15f580
Plane: remove unused do-control-video
2023-03-09 12:24:05 +11:00
Iampete1
d97bd6f5c3
Plane: titrotor: is_motor_tilting: dont cast to uint8
2023-03-07 10:28:11 +11:00
Tom Pittenger
96ee3651d2
Plane: Auto takeoff roll-limits to use TKOFF_LVL_ALT
2023-03-02 09:24:13 +11:00
Randy Mackay
d9795d3580
Plane: integrate camera frontend/backend split
2023-03-01 18:18:51 +11:00
Andrew Tridgell
8637f2d9c6
Plane: release notes for 4.3.4
2023-03-01 12:58:01 +11:00
Andrew Tridgell
a0634d8b5b
Plane: constrain tilt range for vectored yaw
...
this prevents a case where we can demand unlimited vectored yaw,
leading to loss of control
this was particularly noticible before the fix in #23023 - if you
armed for a 2nd time in QHOVER after moving the throttle above 10% so
throttle_wait was cleared then the motors would try to tilt fully so
one motor is in fwd flight position. This would cause a prop strike
while on the ground
2023-02-26 08:52:16 +11:00
Andrew Tridgell
38d7bcff6b
Plane: re-init throttle wait on quadplane arm and disarm
...
this prevents yaw from rudder arming on 2nd flight
2023-02-26 07:06:09 +11:00
Tom Pittenger
7a6f398668
Plane: add TKOFF_GND_PITCH
2023-02-23 11:12:39 +11:00
Iampete1
eefa3b1ce4
Plane: move training mode function to mode training
2023-02-22 19:26:59 +11:00
Iampete1
f6b0c3775c
Plane: move mode acro functions to mode acro
2023-02-22 19:26:59 +11:00
Peter Barker
c18276e19b
ArduPlane: add support for mavlink in-progress message
2023-02-21 17:07:41 +11:00
Iampete1
50eaa1cc54
Plane: move acro stabilization into mode acro
2023-02-21 11:27:24 +11:00
Iampete1
6bb0096b9d
Plane: move training stabilize function to training mode
2023-02-21 11:27:24 +11:00
Iampete1
549dd3875d
Plane: add mode ahrs convenience refence
2023-02-21 11:27:24 +11:00
Andrew Tridgell
a57e6455ab
Plane: use is_armed_and_safety_off()
...
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
2023-02-21 07:44:09 +11:00
Iampete1
5586f4ad3a
Plane: arming: modes: don't always display
2023-02-20 10:55:32 +00:00
Andrew Tridgell
312d37306e
Plane: ensure home is up to date on arming
...
remove any discrepancy which has crept in over the last few seconds
this also ensures that relative_altitude is updated, and copes with
the EKF refusing the resetHeightDatum call
2023-02-19 10:45:42 +11:00