- TAKEOFF and AUTO flight modes now should have identical takeoff
- Prevent behaviour switching past climb altitude in TAKEOFF mode.
- Refactor set_pitch_min/max methods.
Max was already there, now renamed.
Min is newly introduced.
behaviour.
- Remove enforcement of min takeoff throttle logic from servos.cpp.
It is now handled only by takeoff.cpp.
- Take TKOFF_LVL_ALT into consideration in AUTO as well.
- Fixed pitch setpoint when TKOFF_ROTATE_SPD>0.
- Roll navigation in mode TAKEOFF during climb should now work again.
- Now the TAKEOFF loiter waypoint is set by the bearing of the
aircraft while on TKOFF_LVL_ALT, as in the last stable release, instead
of TKOFF_ALT.
- Using TRIM_THROTTLE in takeoffs, when TKOFF_THR_MIN==0
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 sets a minimum distance to use the fixed wing approach logic. It
is an alternative to just disabling the approach with Q_OPTIONS which
some users do to avoid some short distance problems. This allows the
approach to still be used for longer distances in QRTL but have it
disabled for shorter distances
The deca frame is properly supported for Copter and as the quadplane vtol setup calls upon the copter frames, it should also be supported for arduplane vtol for anyone who wants to work 10 vertical motors.
This variable updated unpredictably, and it was easy to introduce bugs.
It was not used in many places and is clearer to calculate the error
directly when needed.
Plane: Fix description for TECS_BCK_PIT_LIM
Plane: Add diagnostics logging for VTOL upper pitch limit calc
Plane: Rework "Prevent overloading quadplane wing during VTOL braking"
Implement an independent speed scaler calculation. During VTOL modes the plane surface speed scaler does not follow a 1/IAS function at low airspeed.
