Plane 4.6.0 beta

menschel · May 1, 2025, 9:15am

Somehow I know that there will be a -beta7. Unless I’m completely incompetent on setting up a mission, there is an altitude bug in landing when the WP altitude is terrain based.
I just saw a 22deg climb instead of a -8deg sink.

EDIT:
Seems to target ~90m which is my relative ASL altitude. Complete mission is terrain based except takeoff which is 30m relative altitude.

EDIT2:
…

EDIT3:
An additional general Issue. It would be nice if we could get rid of this undocumented feature with the 20m magic altitude number.

github.com/ArduPilot/ardupilot

ArduPlane/altitude.cpp

master


      
                  if (!above_location_current(next_WP_loc) && plane.flight_option_enabled(FlightOptions::IMMEDIATE_CLIMB_IN_AUTO)) {
                      reset_offset_altitude();
                      break;
                  }
          
                  // we only do glide slide handling in AUTO when above 20m or
                  // when descending. The 20 meter threshold is arbitrary, and
                  // is basically to prevent situations where we try to slowly
                  // gain height at low altitudes, potentially hitting
                  // obstacles.
                  if (adjusted_relative_altitude_cm() > 2000 || above_location_current(next_WP_loc)) {
                      set_offset_altitude_location(prev_WP_loc, next_WP_loc);
                  } else {
                      reset_offset_altitude();
                  }
                  break;
              default:
                  reset_offset_altitude();
                  break;
              }
          }

There was a brief OT discussion in

EDIT4:
LBNL, there is another altitude issue going from a terrain altitude WP to a relative altitude WP.
120m terrain wp → 50m relative wp is executed as a jump instead of a slope. I’ve seen this in the past with RTL that then also does a jump.
Seems to be related to NTUN.AltE, have to check what that is…
EDIT5: Scratch that, AltE is just “difference between current vehicle height and target height”