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644 Commits

Author SHA1 Message Date
Peter Barker 203103bae5 ArduPlane: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Iampete1 b9d240460b Plane: remove SpdHgt and use TECS direct 2021-11-13 08:05:39 +11:00
Peter Barker 7c3de472b2 Plane: support send_extended_sys_state 2021-11-09 10:22:24 +11:00
Andrew Tridgell d3742989ef Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-07 06:58:53 +11:00
Andrew Tridgell debae1381c Plane: fixed a bug in POSITION1 speed thresholds 
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes

this fixes both bugs
 2021-11-06 20:00:10 +11:00
Peter Barker 6a12d3f5d9 Plane: use enum class for StickMixing 2021-11-03 18:06:00 +11:00
Iampete1 af8688b300 Quadplane: add transiton class 2021-11-02 10:14:36 +11:00
Andrew Tridgell b74dca02ca Plane: avoid qpos approach when very close to destination 
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
 2021-10-29 20:22:19 +11:00
Andrew Tridgell 19b5044223 Plane: fixed VTOL state error when using Q_ENABLE=2 
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation

thanks to Pete Hall for finding this
 2021-10-29 20:22:19 +11:00
Iampete1 73e9c9bb43 Plane: quadplane: forward throttle reutrn float 2021-10-20 18:29:58 +11:00
Iampete1 b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Peter Barker eef8115ffc ArduPlane: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Iampete1 e99a5c6ef4 Plane: Quadplane: reinstate THR PWM param discriptions for stable users 2021-10-11 22:19:17 -04:00
Iampete1 30c9cccf78 Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM 2021-10-11 22:19:17 -04:00
Iampete1 d1d6342165 Plane: update_throttle_range dont set_throttle_range 2021-10-11 22:19:17 -04:00
Andrew Tridgell 570ecdc2e0 Plane: don't apply fw pitch limit in VTOL control for tailsitters 
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
 2021-10-10 06:35:20 +11:00
Hwurzburg 4e731bf4e2 Plane: add VTOL POS1 notification to QRTL mode 2021-10-06 11:38:32 +11:00
Andrew Tridgell 2be23fff2b Plane: obey Q_RTL_ALT when in POS1 and POS2 states 
this fixes the alt target for when user has disabled the quadplane
approach code
 2021-10-02 12:46:59 +10:00
bugobliterator ae4d368267 Plane: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
Iampete1 a350ebb358 Plane: quadplane: do_vtol_land remove uneded I reset 2021-09-28 10:51:21 +10:00
Andrew Tridgell fd5faa866f Plane: always log QPOS when changing control state 2021-09-27 21:21:53 +10:00
Andrew Tridgell 9d0b7f8efe Plane: removed set_state to QPOS_POSITION1 in do_vtol_land 
we are immediately replacing the state with QPOS_APPROACH, so the
set_state is not needed, and triggers a call to
attitude_control->reset_yaw_target_and_rate() which can badly impact
euler rates for tailsitters
 2021-09-27 21:21:53 +10:00
Peter Hall e83b598040 Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output 2021-09-25 12:53:11 +10:00
bugobliterator 4b62dd75b0 ArduPlane: fix casting to pass format check 2021-09-22 21:36:34 +10:00
Bob Long f2d32fc800 Plane: quadplane: fix wp_dist reporting for VTOL landings 
After hitting the approach stage of a VTOL landing in auto, nav_controller_output sends zero as the distance to waypoint.
 2021-09-21 09:40:00 +10:00
Iampete1 cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +10:00
Andrew Tridgell 7547ad53d3 Plane: allow for new guided destination during guided takeoff 
if you set a very high alt for takeoff this is useful
 2021-09-17 10:06:08 +10:00
Andrew Tridgell 8bee839931 Plane: fixed overshoot in guided takeoff of quadplanes 2021-09-17 10:06:08 +10:00
Iampete1 c4a1ae42e5 Plane: Quadpalne: move tiltrotor functionality to own class 2021-09-17 08:24:17 +10:00
Peter Barker 3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Josh Henderson 1da21c3b21 Quadplane: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Andrew Tridgell cb307891e0 Plane: fixed bad yaw rate demands in tailsitter fixed wing modes 
this prevents the pilot putting in crazy yaw rate demands due to the
use of rudder stick in fixed wing modes for tailsitters while still
allowing for FBWA flat turns if the user wants them.

It uses the existing RUDD_DT_GAIN parameter for a gain scaling of yaw
rate for copter tailsitters
 2021-09-14 07:55:40 +10:00
Iampete1 c73207b4b0 Plane: quadplane: remove init mode and control run methods 2021-09-08 18:06:58 +10:00
Iampete1 95fbf39f72 Plane: quadplane: check_attitude_relax use the last time the controllers were run not the last time relax was checked 2021-09-07 09:09:47 +10:00
Hwurzburg 5ca652a243 Plane: rename tailistter motor class to more correct singl/dual motor layout 2021-09-06 10:14:05 +10:00
Iampete1 f1477a6c29 Plane: quadplane: add assisted flight only airmode 2021-09-01 08:33:24 +10:00
Iampete1 46670f7bd0 Plane: quadplane: move tailsitter items to dedicated setup 2021-09-01 08:33:24 +10:00
Iampete1 700a92f036 plane: quadplane: tailsitter: run FW transition check and assist immediately 2021-08-31 10:34:33 +10:00
Peter Hall 657fcb7f59 Plane: quadplane: set `last_pidz_init_ms` 2021-08-31 09:58:03 +10:00
Iampete1 70ab9ba3b6 Plane: tailsitter: remove pilot prop-hanging teaching params and code. 2021-08-25 18:47:51 +10:00
Hwurzburg 551d55a85c ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION 2021-08-25 12:32:59 +10:00
Iampete1 d372907a98 Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. 2021-08-24 10:39:12 +10:00
TunaLobster cbf6c2926f ArduPlane: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Andrew Tridgell 58c823284c Plane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Iampete1 baf2b4a3d8 Plane: Qstabilize: mode functions to ModeQStabilize 2021-08-17 11:46:49 +10:00
Iampete1 44e63861ce Plane: QRTL: move functions to ModeQRTL 2021-08-17 11:46:49 +10:00
Iampete1 f75919e727 plane: QLoiter: move functions to ModeQLoiter 2021-08-17 11:46:49 +10:00
Iampete1 921116e7a3 Plane: QLand: move functions to ModeQLand 2021-08-17 11:46:49 +10:00
Iampete1 737096f342 Plane: QHover: move functions to ModeQHover 2021-08-17 11:46:49 +10:00
Iampete1 a1fa683272 plane: Qautotune: move functions to ModeQAutotune 2021-08-17 11:46:49 +10:00
Iampete1 e293866245 plane: Qacro: move functions to ModeQAcro 2021-08-17 11:46:49 +10:00
Leonard Hall 65b58dea85 Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Peter Hall ed4345cb3b Quadplane: tailsitter: provide assistance at min throttle 2021-08-08 19:41:22 +10:00
Peter Hall 2527117cf9 Quadplane: combine assistance_needed and assistance_safe functions 2021-08-08 19:41:22 +10:00
Iampete1 7ff592d29e Plane: Quadplane: move mode functions to mode classes in-place 2021-08-03 12:28:31 +10:00
Hwurzburg b539a534e9 Plane: improve description of Q_TRIM_PITCH 2021-07-27 12:49:33 +10:00
Iampete1 beefd95079 Plane: QuadPlane: tailsitter param conversion, set and use new enable param 2021-07-27 09:08:34 +10:00
Iampete1 0eab3faf32 Plane: use new tailsiter class 2021-07-27 09:08:34 +10:00
Iampete1 2bc2b9533b Plane: QuadPlane: move tailsitter to class 2021-07-27 09:08:34 +10:00
Peter Barker 06c2faaec5 ArduPlane: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Hwurzburg 19213d3627 Plane: Allow yaw at zero throttle in VTOL descents 2021-07-20 11:10:25 +10:00
Iampete1 015b971ccb Plane: add new dynamic mixer frame class 2021-07-20 09:19:28 +10:00
Peter Barker 93323f1f39 Plane: stop setting terrain singleton; libraries use singleton 2021-07-12 17:34:44 +10:00
Leonard Hall 7db568c85a Plane: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Andrew Tridgell 50e6d67a66 Plane: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell 61ac45dd5a Plane: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell 66bc673442 Plane: fixed attitude control during QPOS_AIRBRAKE 
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
 2021-06-22 07:42:20 +10:00
Iampete1 6eab9b9c15 plane: quadplane: skip QPOS_POSITION1 on tailsitters 2021-06-15 09:25:58 +10:00
Hwurzburg 4f48233b43 ArduPlane: add QRTL always as Q_RTL_MODE option 2021-06-14 09:08:20 +10:00
Andrew Tridgell 0c8e81964e Plane: reset yaw controller on entry to POSITION1 
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
 2021-06-14 07:53:32 +10:00
Andrew Tridgell 4307390820 Plane: fixed distance threshold for vtol land 2021-06-13 07:50:02 +10:00
Andrew Tridgell f749c2c3ad Plane: fixed issue with overspeed in QPOS_POSITIION1 
this fixes the backflip issue on the convergence that Henry found
 2021-06-13 07:50:02 +10:00
Andrew Tridgell ae6220aace Plane: cope with zero distance to target in QPOS_POSITION1 2021-06-10 13:50:29 +10:00
Andrew Tridgell 0f9e7001d1 Plane: limit speed in POSITION1 based on angle 
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 74ac9964f1 Plane: improved POSITION1 speed profile 
allow acceleration up to the Q_WP_SPEED, and assume a decel profile
matching Q_TRANS_DECEL for approach speed
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 5f8e90cd6f Plane: metadata fix for Q_OPTIONS 2021-06-10 13:50:29 +10:00
Andrew Tridgell 3611b1dbf7 Plane: added check for QPOS initialisation 
thanks to Kris for noticing this!
 2021-06-10 13:50:29 +10:00
Andrew Tridgell db34577755 Plane: use a separate bit for landing reposition in quadplanes 
when repositioning stop descent
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 06cd077c36 Plane: fixed stick mixing with land reposition in quadplanes 
prevent stick mixing overriding landing control
 2021-06-10 13:50:29 +10:00
Andrew Tridgell f970735d47 Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1 
and made logic of in_vtol_mode() easier to read
 2021-06-05 13:05:30 +10:00
Andrew Tridgell aa904d6bbc Plane: fixed guided mode handling with new approach code 
ensure we treat guided approach as not a vtol mode
 2021-06-05 13:05:30 +10:00
Andrew Tridgell f15497c6a9 Plane: only do fwd thrust loss detection in SLT vehicles 
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 0232fa7456 Plane: cope with fwd thrust loss in Q approach 
if throttle is saturated and descending and low airspeed then declare
thrust loss
 2021-06-05 13:05:30 +10:00
Andrew Tridgell fbf5083e6a Plane: avoid transition in QRTL 
if close to home and already in a VTOL mode then don't transition
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 77ee922473 Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell 245ded2f2d Plane: fixed handling of loss of fwd thrust in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell c7a14a5da1 Plane: disable cross-track in Q approach modes and QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell 46722500b0 Plane: default Q_TRANS_DECEL to 6 for tailsitters 2021-06-05 13:05:30 +10:00
Andrew Tridgell a7b809d5d4 Plane: added approach and airbrake options 
this defaults VTOL landings to have an approach and airbraking stage,
allowing for more efficient landings. Can be disabled by setting
Q_OPTIONS bit 16
 2021-06-05 13:05:30 +10:00
Andrew Tridgell ddfc9e8300 Plane: improved quadplane auto-land into wind 
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
 2021-06-05 13:05:30 +10:00
Andrew Tridgell b4992cc226 Plane: added accessors for poscontrol state 
allows for time since state entered
 2021-06-05 13:05:30 +10:00
Andrew Tridgell f1f7f01300 Plane: slave fixed wing desired rate to multicopter desired rate 
this ensures that the two rate controllers don't fight each other when
in a VTOL mode
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 68a1100c64 Plane: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Hwurzburg bf14c32109 Plane: correct description of Q_TAILSIT_MOTMX param 2021-05-30 22:36:26 -07:00
Leonard Hall e275ec9e63 Plane: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Hwurzburg 38ed4a2dd6 ArduPlane: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Leonard Hall 8b3b6cf693 Plane: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell d1f6d913d5 Plane: adjust reposition landing code 
use accel with 1s timeconstant
 2021-05-24 20:13:37 +10:00
Andrew Tridgell 5857e750ce Plane: provide target velocity in QPOS descent 2021-05-24 20:13:37 +10:00
Andrew Tridgell 71fa52d5c6 Plane: fixed slowing descent in final phase of QLAND 2021-05-24 20:13:37 +10:00
Andrew Tridgell ec1cbb06fd Plane: allow reposition in auto land 2021-05-24 20:13:37 +10:00
Andrew Tridgell 6eafcdb558 Plane: added Q_OPTION bit for throttle control of landing speed 2021-05-24 20:13:37 +10:00
Andrew Tridgell 24375cf9c1 Plane: change printf calls to send_text 2021-05-24 20:13:37 +10:00
Andrew Tridgell 52b4c257ec Plane: prevent oscillation in GUIDED mode hover 2021-05-24 20:13:37 +10:00
Andrew Tridgell 5a880c74b6 Plane: use input shaping from pos_control 
smoother navigation with new input shaping code
 2021-05-24 20:13:37 +10:00
Andrew Tridgell a6ec7d9f23 Plane: ensure xy controller is initialised 2021-05-24 20:13:37 +10:00
Andrew Tridgell 9d52333afc Plane: don't start descent till under 3m/s 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall 57952861d6 Plane: PosControl Update 2021-05-24 20:13:37 +10:00
Leonard Hall ff2ae1d7d1 Plane: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall 1ce63bf433 Plane: minor format and comment fixes 2021-05-12 17:16:00 +10:00
Iampete1 1a182a52da Plane: init terrain to locaiton and wpnav sub sytems 2021-05-02 18:51:27 +10:00
Iampete1 572e401894 Plane: fix QRTl terrain following 2021-05-02 18:51:27 +10:00
Andrew Tridgell b749756c29 Plane: setup SMAX for Q modes 
this enables logging of rates, which helps with tuning
 2021-04-13 10:28:47 +10:00
Peter Hall 105f94f1fd Plane: tailsitter: transistion to and from inverted flight 2021-04-13 10:02:28 +10:00
Peter Hall 5a941ce02f PLane: tailsitter: instant transition when disarmed 2021-04-07 17:55:48 +10:00
Peter Hall 33f9e3d4b6 plane: add tailsitter transision rates, give more info in transision complete messages 2021-04-07 17:55:48 +10:00
Iampete1 75dc0ced10 Plane: Quadplane: remove outdated Z controller reset 2021-04-07 17:37:30 +10:00
Iampete1 d1fabe0c3d Plane: VTOL: remove motors config error 2021-03-30 10:58:05 +11:00
Iampete1 e81dc36ed6 Plane: add option do do a VTOL approach RTL 2021-03-29 11:29:12 +11:00
Hwurzburg 8aabf7c22a Plane: Add VTOL descent rate, convert existing rate to climb rate only 
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-03-23 14:32:46 +11:00
Hwurzburg d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
James O'Shannessy 5dd40afe0a ArduPlane: Retrigger fence breach if mode 
ArduPlane: Move auto enabling code to common fence library
 2021-03-05 14:52:46 +11:00
James O'Shannessy 8a99d9dd00 ArduPlane: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 4f7ffc5eb1 Plane: move fence disable code to a function to enable reusability 2021-03-05 14:52:46 +11:00
Randy Mackay 4c8ada111b Plane: quadplane defaults Q_WP_SPEED to 500 
Q_WP_ACCEL default is set to 100
 2021-03-03 08:03:39 +09:00
Iampete1 1d050a01ce Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes 2021-03-02 11:16:35 +11:00
Iampete1 8ebe64a274 Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low 2021-02-28 18:48:56 +11:00
Andrew Tridgell 44df1dd0ca Plane: fixed the pitch control in transition for tilt rotors 
this fixes an issue found by Henry. If level transition is set when
transitioning to FBWA from a Q mode, and the pilot pulls back on the
pitch stick to demand pitch up then the plane would go into a
high-alpha flight state with low vertical throttle so it would not
climb, resulting in it never getting past airspeed wait state
 2021-02-28 11:33:18 +11:00
Andrew Tridgell 319368e4b7 Plane: fixed yaw on fwd transition in tilt quadplanes 
this fixes the coordinated turn calculation for yaw rate in tilt
quadplanes, and also only applies it if demanding at least 10 degrees
roll.

this fixes an issue when the pilot has a small roll demand in FBWA
from slightly off roll RC trim

thanks to Henry for helping diagnose this!
 2021-02-27 14:42:20 +11:00
Mark Whitehorn 236961f17f Plane: use get_frame_class/type string methods 
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-02-09 12:43:53 +11:00
Patrick José Pereira cdc7f891a9 ArduPlane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Iampete1 004f873dc7 Plane: update Quadplane FRAME_CLASS description 2021-01-26 11:07:36 +09:00
Randy Mackay 0d0ff63242 Plane: ensure wp_nav::wp_and_spline_init is called at least once 2021-01-20 18:22:44 +11:00
Iampete1 e4fbe64616 Plane: add QuadPlane singleton 2021-01-19 11:18:10 +11:00
Peter Hall 05fb14e5d9 Plane: tailsitter start transition from initial pitch 2021-01-19 10:46:58 +11:00
Iampete1 4dec597372 Plane: move quadplane logging to QuadPlane: update() 2021-01-19 10:24:05 +11:00
Pierre Kancir 742cfc543f Plane: fix parameter unit 2021-01-12 10:21:55 +11:00
Josh Henderson cc1e395854 ArduPlane: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Peter Barker 6baaf03c8c Plane: move auto_throttle_mode to being a method on each mode 2021-01-10 16:04:30 +11:00
Andrew Tridgell a0fcef6ceb Plane: added tilt vectoring in fixed wing modes 
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
 2021-01-05 08:23:28 +11:00
Iampete1 54ee2c35fb Plane: rename tailsitter scailing max param to match min and update descriptions 2020-12-22 11:00:59 +11:00
Iampete1 c8b3c91ae5 Plane: Tailsitter add disk theory and altitude gain scailing 2020-12-22 11:00:59 +11:00
Mark Whitehorn dd7a860f23 Plane: always instantiate AC_AttitudeControl_TS 2020-12-21 12:56:24 +11:00
Mark Whitehorn 24508f08dc Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait 
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
 2020-12-21 12:56:24 +11:00
Andrew Tridgell 8e3c6124eb Plane: added support for rear motor tilt 
needed for X8 tilt tri test aircraft for this PR
 2020-12-21 12:05:50 +11:00
Andrew Tridgell e94cf561d0 Plane: use rull euler control for fwd transition of tilt vectored planes 
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn

When navigation is demanded we setup yaw rate for a coordinated turn
 2020-12-21 12:05:50 +11:00
Andrew Tridgell abd5f8351d Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes 2020-12-21 12:05:50 +11:00
Andrew Tridgell ad14e153e8 Plane: fixed tilt vectoring to cope with large tilt angles 
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
 2020-12-16 08:45:11 +11:00
Hwurzburg 8658023dad Plane: Add lower CHECK_SCALE defaults for QuadPlane 2020-12-07 11:49:01 +11:00