this is principally for tailsitters where rangefinders would be
orientation with RNGFND1_ORIENT=12 (PITCH_180), but also allows for
custom orientations which will be useful if the rangefinder is tilted
forward
This is a rework so that servos.cpp is responsible for setting the
throttle limits under more circumstances and always notifies TECS when
it does so.
Additionally, the TAKEOFF mode has been improved with a new parameters
TKOFF_MODE and TKOFF_THR_MIN that extend the throttle behaviour.
add comment in Parameters.cpp
Update ArduPlane/altitude.cpp
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
clarification in FLIGHT_OPTIONS description
change the comment
param comment change
Update ArduPlane/Parameters.cpp
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain
The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.
fixes https://github.com/ArduPilot/ardupilot/issues/25157
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
when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
