AP_Scripting: applet for Plane follow on a switch

ArduPlane/GCS_Mavlink.cpp

@@ -845,7 +845,8 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
     if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
         (plane.control_mode == &plane.mode_guided)) {
         plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND);
-
+        plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
+
         // add home alt if needed
         if (requested_position.relative_alt) {
             requested_position.alt += plane.home.alt;

Tools/autotest/default_params/glider.parm

@@ -1,6 +1,3 @@
-LIM_PITCH_MAX 1000
-LIM_PITCH_MIN -1500
-LIM_ROLL_CD 3000
 
 THR_MAX 0
 THR_FAILSAFE 2
@@ -9,6 +6,11 @@ RTL_RADIUS 175
 WP_RADIUS 90
 KFF_RDDRMIX 0.07
 
+# fixed wing tuning
+PTCH_LIM_MAX_DEG 10
+PTCH_LIM_MIN_DEG -15
+ROLL_LIMIT_DEG 30
+
 RLL_RATE_FF 0.6
 RLL_RATE_P 0.5
 RLL_RATE_I 0.14
@@ -26,9 +28,10 @@ PTCH2SRV_TCONST 0.45
 PTCH2SRV_RMAX_UP 75
 PTCH2SRV_RMAX_DN 75
 
-
-ARSPD_FBW_MIN 17
-ARSPD_FBW_MAX 45
+AIRSPEED_CRUISE  38
+AIRSPEED_MIN     17
+AIRSPEED_MAX     45
+ARSPD_USE        1
 
 HOME_RESET_ALT -1
 
@@ -47,3 +50,40 @@ NAVL1_LIM_BANK 30
 
 SCHED_LOOP_RATE 200
 
+WP_LOITER_RAD    230
+
+CHUTE_ENABLED    1.000000
+CHUTE_TYPE       10.000000
+CHUTE_SERVO_ON   1900.000000
+CHUTE_OPTIONS    1.000000
+
+INS_ACCSCAL_X    1.001000
+INS_ACCSCAL_Y    1.001000
+INS_ACCSCAL_Z    1.001000
+INS_ACCOFFS_X    0.001000
+INS_ACCOFFS_Y    0.001000
+INS_ACCOFFS_Z    0.001000
+INS_ACC2SCAL_X   1.001000
+INS_ACC2SCAL_Y   1.001000
+INS_ACC2SCAL_Z   1.001000
+INS_ACC2OFFS_X   0.001000
+INS_ACC2OFFS_Y   0.001000
+INS_ACC2OFFS_Z   0.001000
+
+SIM_SERVO_SPEED  0.110000
+SIM_SERVO_DELAY  0.010000
+SIM_SERVO_FILTER 10
+
+SIM_GLD_BLN_BRST 50000
+
+SERVO1_MIN       1000
+SERVO1_MAX       2000
+SERVO1_FUNCTION  0
+SERVO2_FUNCTION  4
+SERVO3_TRIM      1460.000000
+SERVO3_REVERSED  1
+SERVO3_FUNCTION  19
+SERVO4_REVERSED  1
+SERVO5_FUNCTION  4
+SERVO6_FUNCTION  56
+SERVO9_FUNCTION  27