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Navigation mods and SURFACE mode playground #3202

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merged 1 commit into from May 22, 2018

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commented May 12, 2018

  • Deprecate POSHOLD_2D
  • POSHOLD box now implies ALTHOLD
  • Initial cut on SURFACE modifier for navigation modes

@digitalentity digitalentity added this to the 2.0 milestone May 12, 2018

@digitalentity digitalentity changed the title Navigation mods and SuRFACE mode playground Navigation mods and SURFACE mode playground May 12, 2018

@DzikuVx

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commented May 12, 2018

Finally!

@digitalentity

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commented May 12, 2018

As discussed on Slack, SURFACE modifier is checked only when activating ALTHOLD/POSHOLD mode - if enabled, it will change the behavior of navigation system and force it to use AGL postion for all modes except RTH and WP.

@digitalentity digitalentity force-pushed the de_poshold_surface_mode branch from cb8f7d2 to 016709c May 13, 2018

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commented May 13, 2018

Tested. Works very well with new MSP rangefinder

Remove POSHOLD_2D mode (POSHOLD now implies ALTHOLD); Initial cut on …
…surface tracking modifier

Direct altitude control

@digitalentity digitalentity force-pushed the de_poshold_surface_mode branch from 016709c to 73f773f May 13, 2018

@digitalentity digitalentity merged commit 0fb3d8a into development May 22, 2018

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@digitalentity digitalentity deleted the de_poshold_surface_mode branch May 22, 2018

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commented Jul 1, 2018

What is the current recommended hardware for this setup?

@georgekucher

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commented Mar 31, 2019

Hi @digitalentity,
I think it doesn't work for me.
I fly Matek F722 f/w: 2.1 and US-100 sonar (connected via Arduino).
Althold and Surface modes were enabled at the same time. But still my copter was able to land.
Please help. What am I doing wrong? I have logs, configs and video if needed.
Thanks in advance!

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