Plane:mode AUTOLAND enhancements #28976
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Added loiter to alt with direct exit to landing final and moved option to AUTOLAND module... |
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This PR enhances the new AUTOLAND mode. It adds the following new features:
Allows takeoff direction capture, and hence autoland direction and use, in ACRO, STABILIZE, FBWA, and MANUAL modes,
in addition to Mode TAKEOFF and AUTO NAV_TAKEOFF, using the same criteria as currently used, the first time after arming.
Adds an option that will set this direction upon arming using a compass, if in use, instead of ground course, allowing the user to set it on the ground arbitrarily as desired, independent of the actual takeoff direction. The option is in the autoland module for future expansion
the "base" leg is actually a WP_LOITER_RAD loiter to alt with tangent exit directly into the final approach waypoint and landing with proper loiter direction.
changes to current behavior, besides the new features, is that once the direction is captured it persists until a disarm occurs. Therefore multiple auto takeoffs while armed no longer reset the direction captured by the first, on each subsequent takeoff. Originally, I thought this behavior was desirable, but I now believe it's not of much benefit and the new behavior avoids the current corner case issue of resetting the direction while in flight if a NAV_TAKEOFF autotakeoff is interrupted and then resumed.
In addition, it removes the AUTOLAND code segments in the commands_logic and mode_takeoff modules, reducing the flash impact overall...
These changes have been tested in SITL and flight-tested in all configurations I could think of.