add quick setup guide for return to home behaviours #5456

Hwurzburg · 2023-09-29T22:33:59Z

@timtuxworth maybe this will help someone setting up a Qplane....at least you wont get surprise behavior... maybe not "tuned" for distances and alts, but at least the functions are consciously being chosen

timtuxworth · 2023-09-29T22:38:15Z

This is a great idea @Hwurzburg - finding the "Q" versions of things is currently scattered all over the place as notes to standard "non Q" behavior. I'll start a review and I'll go through it over the weekend.

Hwurzburg · 2023-09-29T22:40:05Z

review carefully...still have anesthesia-head

timtuxworth

Initial thoughts.

timtuxworth · 2023-09-29T22:46:33Z

plane/source/docs/quadplane-parameters.rst

+
+1.If you lose RC link for greater than :ref:`FS_LONG_TIMEOUT<FS_LONG_TIMEOUT>` in fixed wing flight set :ref:`FS_LONG_ACTN<FS_LONG_ACTN>` value below to obtain various behavior options:
+- "0" : do nothing if in AUTO mode, otherwise switch to RTL mode
+- "1" : switch to RTL mode


This should mention the Q_RTL_MODE parameter which will mean (if I understand correctly) that even in fixed wing flight, a long failsafe will actually QRTL if enabled (value > 0).

unless an option to switch to RTL is selected that(q_rtl_mode) has no impact....further down implications of RTL mode for a QPlane are discussed...will add note referencing #3,4 below this

timtuxworth · 2023-09-29T22:51:05Z

plane/source/docs/quadplane-parameters.rst

+- "2" : Transition to fixed wing, and do a special approach to home,  transition back to VTOL mode, move to over home, switch to QLAND and land at home in VTOL
+- "3" :Switch to QRTL mode. See below.
+
+5. When switching to QRTL, instead of transitioning to fixed wing (assuming you are not close to home already), flying back to home, then switching to VTOL mode as you approach home, then switching to QLAND and landing at home (see :ref:`qrtl-mode` for more information), you can disable the fixed wing approach and return home and land in only VTOL mode if :ref:`Q_OPTIONS<Q_OPTIONS>` bit 16 set.


This seems very convoluted. Try rewording it based on a positive statement .. i.e. don't start with "instead of" ... something like:
The standard QRTL will transition to fixed wing, fly back home, switch to VTOL then switch to QLAND to land at the home location. You can disable the fixed wing approach and return home and land in only VTOL mode if :ref:Q_OPTIONS<Q_OPTIONS> bit 16 set.

reworded a bit...confused even me with a clearer head

timtuxworth · 2023-09-29T22:52:31Z

plane/source/docs/quadplane-parameters.rst

+- set :ref:`Q_OPTIONS<Q_OPTIONS>` bit 20 to switch to RTL mode instead. (see #3,4 below)
+
+3. Anytime you switch to RTL (due either to manual mode change or failsafe action), do you want to execute an autoland sequence (does not need to actually have a land command, if some other action is desired), rather than just return and loiter around home?
+- If yes,then set up a DO_LAND_START mission sequence and enable the :ref:`RTL_AUTOLAND<RTL_AUTOLAND>` parameter. See :ref:`do_land_start` for details of setup.


Sure - but when you click the link and get to do_land_start you will find no reference to VTOL/Q modes. I think this is confusing.

added note on that page.....the feature itself is VTOL/FW agnostic....the NAV_LAND command evokes the do_land_start tag itself....

Ok - this is more of a question, does this auto land behavior apply to RTL only, or would it also apply to QRTL? Either way it might be good to call it out explicitly - or is that what #4 is telling me?

its named RTL_AUTOLAND....RTL mode (a fixed wing mode of flight) normally just returns and loiters..but can do the do_land_start sequence instead
and QRTL mode always lands in the end...with or without a fixed wing approach
if you are in VTOL flight switching to RTL mode can do the behaviors as selected in #4...if its selected to be RTL mode, the RTL_AUTOLAND can affect it, since its RTL

its named RTL_AUTOLAND....RTL mode (a fixed wing mode of flight) normally just returns and loiters..but can do the do_land_start sequence instead
and QRTL mode always lands in the end...with or without a fixed wing approach
if you are in VTOL flight switching to RTL mode can do the behaviors as selected in #4...if its selected to be RTL mode, the RTL_AUTOLAND can affect it, since its RTL

I'd take exactly those words and put them on the page.

timtuxworth · 2023-09-29T22:53:47Z

plane/source/docs/quadplane-parameters.rst

@@ -29,6 +29,37 @@ Key Parameters
   throttle while flying or you risk disarming your motors.
 -  The default :ref:`SCHED_LOOP_RATE<SCHED_LOOP_RATE>` for a QuadPlane is to 300 (Hz). Most QuadPlanes do not need this to be rasied. Some very small vehicles (< 1Kg) might benefit from setting it to 400. In heavier vehicles, their higher inertia results in lower effective control response rates, so they do not benefit from a higher loop rate. Raising above 300 only leads to larger log files in these vehicles.

+.. _return_behavior_setup:
+
+Return Behavior QuickSetup Guide:


This seems like a funny place to put this on the bottom of a page that is generally about Q parameters. Perhaps it should be on it's own page.

I disagree...this is basic QuadPlane setup....it is not related to the other topics like frame selection, etc in this major First Time Setup group....if the page expands more, then putting the other sections along with this, on individual pages might be warranted, but that may never happen

timtuxworth · 2023-09-30T17:52:37Z

plane/source/docs/quadplane-parameters.rst

+
+1.If you lose RC link for greater than :ref:`FS_LONG_TIMEOUT<FS_LONG_TIMEOUT>` in fixed wing flight set :ref:`FS_LONG_ACTN<FS_LONG_ACTN>` value below to obtain various behavior options:
+- "0" : do nothing if in AUTO mode, otherwise switch to RTL mode (see #3,4 below)
+- "1" : switch to RTL mode( see #3,4 below)


Spacing - "mode (see #3, 4 below)" (the space should be before the ( not after

timtuxworth · 2023-09-30T17:54:05Z

plane/source/docs/quadplane-parameters.rst

+
+While there are many parameters setting distances and heights for the various home return modes/behaviors (read each mode's wiki page), this is a quick setup guide for basic behaviors.
+
+1.If you lose RC link for greater than :ref:`FS_LONG_TIMEOUT<FS_LONG_TIMEOUT>` in fixed wing flight set :ref:`FS_LONG_ACTN<FS_LONG_ACTN>` value below to obtain various behavior options:


I think the word "below" doesn't make sense since it's actually right here. For "below" I'd expect to have to scroll to find the "below". OTOH - I'm not sure if it's how the items display in the preview, but I think a sub-list would be easier to understand instead of stringing 1, 2, 3 in as part of the paragraph.

timtuxworth

Didn't mean to click "start a review"

timtuxworth · 2023-09-30T22:10:29Z

plane/source/docs/quadplane-parameters.rst

+- set :ref:`Q_OPTIONS<Q_OPTIONS>` bit 20 to switch to RTL mode instead. (see #3,4 below)
+
+3. Anytime you switch to RTL (due either to manual mode change or failsafe action), do you want to execute an autoland sequence (does not need to actually have a land command, if some other action is desired), rather than just return and loiter around home?
+- If yes,then set up a DO_LAND_START mission sequence and enable the :ref:`RTL_AUTOLAND<RTL_AUTOLAND>` parameter. See :ref:`do_land_start` for details of setup.


its named RTL_AUTOLAND....RTL mode (a fixed wing mode of flight) normally just returns and loiters..but can do the do_land_start sequence instead
and QRTL mode always lands in the end...with or without a fixed wing approach
if you are in VTOL flight switching to RTL mode can do the behaviors as selected in #4...if its selected to be RTL mode, the RTL_AUTOLAND can affect it, since its RTL

I'd take exactly those words and put them on the page.

Hwurzburg · 2023-10-01T00:01:49Z

@timtuxworth thanks for reviewing....added those words by adding a lead in section....

Hwurzburg requested a review from IamPete1 September 29, 2023 22:33

Hwurzburg force-pushed the qplane-param branch from 984960d to 4ac18f3 Compare September 29, 2023 22:37

Hwurzburg force-pushed the qplane-param branch from 4ac18f3 to f22528c Compare September 29, 2023 22:38

timtuxworth reviewed Sep 29, 2023

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Hwurzburg force-pushed the qplane-param branch from f22528c to 1bcb424 Compare September 30, 2023 00:44

timtuxworth reviewed Sep 30, 2023

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Hwurzburg force-pushed the qplane-param branch 2 times, most recently from 8b5e2c2 to 7225354 Compare September 30, 2023 19:51

timtuxworth reviewed Sep 30, 2023

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add quick setuo guide for return to home behaviours

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Hwurzburg force-pushed the qplane-param branch from 7225354 to 28395d1 Compare October 1, 2023 00:00

Hwurzburg merged commit d3d827c into ArduPilot:master Oct 1, 2023

Hwurzburg deleted the qplane-param branch October 1, 2023 00:02

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add quick setup guide for return to home behaviours #5456

add quick setup guide for return to home behaviours #5456

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Hwurzburg commented Oct 1, 2023


		While there are many parameters setting distances and heights for the various home return modes/behaviors (read each mode's wiki page), this is a quick setup guide for basic behaviors.

		1.If you lose RC link for greater than :ref:`FS_LONG_TIMEOUT<FS_LONG_TIMEOUT>` in fixed wing flight set :ref:`FS_LONG_ACTN<FS_LONG_ACTN>` value below to obtain various behavior options:

add quick setup guide for return to home behaviours #5456

add quick setup guide for return to home behaviours #5456

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