this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.
also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.
It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
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
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
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
Andrew Tridgell
Samuel Tabor
Iampete1