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4792 Commits

Author SHA1 Message Date
Peter Barker e965b987f6 Plane: accept MAV_CMD_DO_LAND_START as both command_long and COMMAND_INT 2023-10-04 19:04:25 +11:00
Iampete1 9381e2f411 Plane: GuidedHeading PID: remove slew limit 2023-10-03 11:28:18 +11:00
Iampete1 73db3c3823 Plane: MAV_CMD_GUIDED_CHANGE_HEADING: allow changing heading type or rate for same heading 2023-10-03 11:28:18 +11:00
Iampete1 e9fbf6db24 Plane: fix guided heading control anti windup 2023-10-03 11:28:18 +11:00
Peter Barker af3992d795 Plane: handle DO_GO_AROUND as both COMMAND_LONG and COMMAND_INT 2023-09-27 17:37:55 +10:00
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