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Add Altitude Cruise mode

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-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-08-15 16:41:38 +02:00
parent 5c5bf0b83d
commit d2e4d85bce
37 changed files with 216 additions and 27 deletions
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7
docs/en/releases/main.md
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@@ -44,7 +44,9 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Control
- TBD
- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise
](https://github.com/PX4/PX4-Autopilot/pull/25435)).
### Estimation
@@ -72,7 +74,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Multi-Rotor
- TBD
- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
### VTOL