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Add warning that QuadPlane VTOL mission legs do not support Terrain waypoints #7586

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Add warning that QuadPlane VTOL mission legs do not support Terrain waypoints #7586

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4 changes: 4 additions & 0 deletions common/source/docs/common-terrain-following.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,10 @@ In Plane terrain following is available in the following flight modes:
- GUIDED - "fly to" waypoints
- AUTO - fully autonomous missions

.. warning:: QuadPlane mission legs flown in VTOL mode do not currently
support waypoints with altitude set to Terrain. Use Relative or Absolute
altitudes for VTOL waypoints.

Use of terrain following in RTL, LOITER, CRUISE, FBWB and GUIDED modes
is controlled by the :ref:`TERRAIN_FOLLOW<TERRAIN_FOLLOW>` parameter. That parameter defaults
to off, so no terrain following will be used in those modes. Setting the bitmask in :ref:`TERRAIN_FOLLOW<TERRAIN_FOLLOW>` determines which altitude controlled modes terrain following is active. For example, setting it to "10" enables following in FBWB and AUTO.
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5 changes: 4 additions & 1 deletion plane/source/docs/quadplane-auto-mode.rst
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Expand Up @@ -107,6 +107,10 @@ command takes a single parameter. If the parameter is set to 3 then
the aircraft will change to VTOL mode. If the parameter is set to 4
then it will change to fixed wing mode.

.. warning:: QuadPlane mission legs flown in VTOL mode do not currently
support waypoints with altitude set to Terrain. Use Relative or Absolute
altitudes for VTOL waypoints.

.. image:: ../images/quadplane-vtol-transition.jpg
:target: ../_images/quadplane-vtol-transition.jpg

Expand Down Expand Up @@ -154,4 +158,3 @@ When hovering at the destination in GUIDED mode if a new GUIDED
destination is given then the aircraft will transition back to fixed
wing flight, fly to the new location and then hover again in VTOL
mode.

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