Terrain AGL Hold — terrain following for fixed wings (builds on #11438) - #11785

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MartinovEm wants to merge 31 commits into

iNavFlight:maintenance-10.xfrom

MartinovEm:terrain-nav-main

Commits on Aug 20, 2026

feat(SITL): simulated SD card backed by a host image file (--sdcard)
MartinovEm
committed
d8c74f0
feat(terrain-nav): navigation-facing terrain API - health-gated queries and climb lookahead
MartinovEm
committed
3d12ae7
feat(terrain-nav): TERRAIN AGL HOLD - cruise holds height above ground
MartinovEm
committed
87d74d8
feat(terrain-nav): lookahead heading gate + TERRAIN LOOKAHEAD OFF warning
MartinovEm
committed
377e165
feat(terrain-nav): unconditional floor alarm with hysteresis + AUTO CLIMB info + TERR flymode indicator
MartinovEm
committed
4e235a3
feat(terrain-nav): smooth stick handover blend + retake dwell (no command step, no deadband-edge writer flap)
MartinovEm
committed
ed28de2
feat(terrain-nav): predictive TERRAIN AHEAD escape-test alarm + time-capped lookahead horizon
MartinovEm
committed
b6fe3a7
feat(terrain-nav): honest alarm ladder - TERRAIN AHEAD on real forward threat only, PULL UP survives below-min captures, pass-at-minimum clear rule, TAWS callout texts
MartinovEm
committed
0792b9b
feat(terrain-nav): imperative alarms mean live threats only - a below-min capture hands over to the auto-climb info
MartinovEm
committed
226abf3
feat(terrain-nav): honest red - TURN AWAY where pulling cannot help + cap-uncover fast clear
MartinovEm
committed
44809ae
feat(terrain-nav): honest red v2 - TURN AWAY on exhausted vertical channel + auto-climb info alternation
MartinovEm
committed
a51e0d7
feat(terrain-nav): blink the terrain floor warnings like the failsafe info text
MartinovEm
committed
8bf3dbf
feat(terrain-nav): born-TURN-AWAY requires a deep (>=10 m) escape shortfall
MartinovEm
committed
0de1c84
docs: update Settings.md (terrain_nav settings)
MartinovEm
committed
06377fc
feat(terrain-nav): raise terrain_nav_min_agl minimum to 5000 (50 m)
MartinovEm
committed
a542c09
feat(terrain-nav): decode terrain heights via the 10-bit packed grid format
MartinovEm
committed
e6e5529
feat(SITL): mirror the new small-RAM terrain cache tier (4)
MartinovEm
committed
c2ce3b4
docs: add Terrain AGL Hold pilot guide
MartinovEm
committed
daea1b7
fix(sitl): cast blackbox log number for %ld in OSD stats (64-bit hosts)
MartinovEm
committed
bfa9a96

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Terrain AGL Hold — terrain following for fixed wings (builds on #11438) - #11785

Terrain AGL Hold — terrain following for fixed wings (builds on #11438)#11785
MartinovEm wants to merge 31 commits into
iNavFlight:maintenance-10.xfrom
MartinovEm:terrain-nav-main

Commits on Aug 20, 2026

feat(SITL): simulated SD card backed by a host image file (--sdcard)

feat(terrain-nav): navigation-facing terrain API - health-gated queries and climb lookahead

feat(terrain-nav): TERRAIN AGL HOLD - cruise holds height above ground

feat(terrain-nav): lookahead heading gate + TERRAIN LOOKAHEAD OFF warning

feat(terrain-nav): unconditional floor alarm with hysteresis + AUTO CLIMB info + TERR flymode indicator

feat(terrain-nav): smooth stick handover blend + retake dwell (no command step, no deadband-edge writer flap)

feat(terrain-nav): predictive TERRAIN AHEAD escape-test alarm + time-capped lookahead horizon

feat(terrain-nav): honest alarm ladder - TERRAIN AHEAD on real forward threat only, PULL UP survives below-min captures, pass-at-minimum clear rule, TAWS callout texts

feat(terrain-nav): imperative alarms mean live threats only - a below-min capture hands over to the auto-climb info

feat(terrain-nav): honest red - TURN AWAY where pulling cannot help + cap-uncover fast clear

feat(terrain-nav): honest red v2 - TURN AWAY on exhausted vertical channel + auto-climb info alternation

feat(terrain-nav): blink the terrain floor warnings like the failsafe info text

feat(terrain-nav): born-TURN-AWAY requires a deep (>=10 m) escape shortfall

docs: update Settings.md (terrain_nav settings)

feat(terrain-nav): raise terrain_nav_min_agl minimum to 5000 (50 m)

feat(terrain-nav): decode terrain heights via the 10-bit packed grid format

feat(SITL): mirror the new small-RAM terrain cache tier (4)

docs: add Terrain AGL Hold pilot guide

fix(sitl): cast blackbox log number for %ld in OSD stats (64-bit hosts)

Commits on Aug 24, 2026

docs(terrain-nav): clarify the OSD alarm explanations for first-time users

docs(terrain-nav): explain why the look-ahead horizon is time-capped, not distance-only

feat(terrain-nav): below-floor recovery targets floor + 10 m, not the bare minimum

docs(terrain-nav): min_agl wording follows the floor+10 recovery (setting description + pilot doc)

Commits on Aug 26, 2026

Merge #11438 head ec46b22f9 (terrain gate by MCU RAM size) into terrain-nav-main

docs(terrain-nav): pilot doc board list follows the RAM-size terrain gate (F7/H7 only, AT32 out)

Merge maintenance-10.x (7f133b34f, terrain data layer #11438 merged) into terrain-nav-main

Merge maintenance-10.x (9e932ba50, VTOL auto-transition #11553) into terrain-nav-main

Commits on Aug 27, 2026

fix(terrain-nav): latch the stick wish across RX frames, show TERRAIN LOOKAHEAD OFF below 3 m/s, drop a dead bounds guard and the unused 'complete' field (review)

feat(terrain-nav): AGL from the data layer's coordinate lookup, no GPS gating of our own

Commits on Aug 28, 2026

Merge maintenance-10.x (2891a8738, ICM42605 retry fix, Terrain.md, ORBITH743v2) into terrain-nav-main

feat(terrain-nav): DEBUG_TERRAIN_NAV debug mode - the hold's state on the debug values