diff --git a/flight/libraries/sanitycheck.c b/flight/libraries/sanitycheck.c
index cf60a63d4..bfb4b792b 100644
--- a/flight/libraries/sanitycheck.c
+++ b/flight/libraries/sanitycheck.c
@@ -146,7 +146,7 @@ int32_t configuration_check()
ADDSEVERITY(!gps_assisted);
}
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
- case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
+ case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYROAM:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTAKEOFF:
ADDSEVERITY(!coptercontrol);
diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index 633e390e6..12a6bb61a 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -411,7 +411,7 @@ static void manualControlTask(void)
// set in stabi settings. Once if we decide to always have this on, it can
// can be directly set here...i.e. set the flight mode assist as required.
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
- case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
+ case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
case FLIGHTSTATUS_FLIGHTMODE_LAND:
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
@@ -531,7 +531,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
thrustMode = modeSettings->Stabilization6Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
- case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
+ case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
// is a more appropriate throttle mode. "GPSAssist" adds braking
// and a better throttle management to the standard Position Hold.
diff --git a/flight/modules/ManualControl/pathfollowerhandler.c b/flight/modules/ManualControl/pathfollowerhandler.c
index dc71cebf3..202c833b8 100644
--- a/flight/modules/ManualControl/pathfollowerhandler.c
+++ b/flight/modules/ManualControl/pathfollowerhandler.c
@@ -80,12 +80,8 @@ void pathFollowerHandler(bool newinit)
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
plan_setup_CourseLock();
break;
- case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
- if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
- plan_setup_PositionRoam();
- } else {
- plan_setup_VelocityRoam();
- }
+ case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
+ plan_setup_VelocityRoam();
break;
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
plan_setup_HomeLeash();
@@ -130,12 +126,8 @@ void pathFollowerHandler(bool newinit)
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
plan_run_CourseLock();
break;
- case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
- if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
- plan_run_PositionRoam();
- } else {
- plan_run_VelocityRoam();
- }
+ case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
+ plan_run_VelocityRoam();
break;
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
plan_run_HomeLeash();
diff --git a/flight/modules/Notify/inc/sequences.h b/flight/modules/Notify/inc/sequences.h
index 86c4f153a..3cf46d832 100644
--- a/flight/modules/Notify/inc/sequences.h
+++ b/flight/modules/Notify/inc/sequences.h
@@ -176,13 +176,14 @@ const LedSequence_t *flightModeMap[] = {
[FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_COURSELOCK] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
- [FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
+ [FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_HOMELEASH] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_RTH],
[FLIGHTSTATUS_FLIGHTMODE_LAND] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
[FLIGHTSTATUS_FLIGHTMODE_POI] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
+ [FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
};
// List of alarms to show with attached sequences for each status
diff --git a/flight/modules/PathFollower/vtolvelocitycontroller.cpp b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
index 68018c5ea..968d30cfc 100644
--- a/flight/modules/PathFollower/vtolvelocitycontroller.cpp
+++ b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
@@ -113,7 +113,7 @@ void VtolVelocityController::SettingsUpdated(void)
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
- controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
+ controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->VelocityRoamMaxRollPitch, vtolPathFollowerSettings->VelocityRoamMaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
}
int32_t VtolVelocityController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
@@ -172,7 +172,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
float angle_radians = DEG2RAD(attitudeState.Yaw);
float cos_angle = cosf(angle_radians);
float sine_angle = sinf(angle_radians);
- float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
+ float maxPitch = vtolPathFollowerSettings->VelocityRoamMaxRollPitch;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index ed0be6807..2bf8f1aac 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -116,8 +116,8 @@
0
0
- 1228
- 661
+ 1220
+ 655
@@ -490,8 +490,8 @@
0
0
- 1228
- 669
+ 1220
+ 655
@@ -1960,7 +1960,7 @@ font:bold;
Qt::StrongFocus
- <html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html>
+ <html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html>
@@ -1986,7 +1986,7 @@ font:bold;
Qt::StrongFocus
- <html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html>
+ <html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html>
@@ -2012,7 +2012,7 @@ font:bold;
Qt::StrongFocus
- <html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html>
+ <html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html>
@@ -2041,7 +2041,7 @@ font:bold;
Qt::StrongFocus
- <html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html>
+ <html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html>
@@ -2070,7 +2070,7 @@ font:bold;
Qt::StrongFocus
- <html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html>
+ <html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html>
@@ -2099,7 +2099,7 @@ font:bold;
Qt::StrongFocus
- <html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html>
+ <html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html>
@@ -2219,8 +2219,8 @@ font:bold;
0
0
- 1228
- 669
+ 1220
+ 655
diff --git a/shared/uavobjectdefinition/altitudeholdsettings.xml b/shared/uavobjectdefinition/altitudeholdsettings.xml
index 7058041e2..d621b1ca6 100644
--- a/shared/uavobjectdefinition/altitudeholdsettings.xml
+++ b/shared/uavobjectdefinition/altitudeholdsettings.xml
@@ -5,8 +5,8 @@
-
-
+
+
diff --git a/shared/uavobjectdefinition/flightmodesettings.xml b/shared/uavobjectdefinition/flightmodesettings.xml
index e5ed1d2eb..22c6fc8bc 100644
--- a/shared/uavobjectdefinition/flightmodesettings.xml
+++ b/shared/uavobjectdefinition/flightmodesettings.xml
@@ -78,31 +78,31 @@
units=""
type="enum"
elements="6"
- options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
+ options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
limits="\
- %0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
- %0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
- %0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
- %0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
- %0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
- %0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
- %0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
- %0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
- %0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
- %0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
- %0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
- %0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+ %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;"/>
diff --git a/shared/uavobjectdefinition/flightstatus.xml b/shared/uavobjectdefinition/flightstatus.xml
index 395486c58..7703f38ca 100644
--- a/shared/uavobjectdefinition/flightstatus.xml
+++ b/shared/uavobjectdefinition/flightstatus.xml
@@ -4,7 +4,7 @@
-
+
diff --git a/shared/uavobjectdefinition/vtolpathfollowersettings.xml b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
index 62469c113..5445f1ed0 100644
--- a/shared/uavobjectdefinition/vtolpathfollowersettings.xml
+++ b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
@@ -6,9 +6,9 @@
-
+
-
+
@@ -18,10 +18,11 @@
+
-
+