Rewrite the fixed wing autoland page for INAV 10.0

[b14ckyy]

Rewrite of docs/06-advanced-features/fixed-wing-autoland.mdx. The old page was a port of an internal write-up; this one is written for users and follows the structure of the newer feature pages.

Content

• How a landing is flown: the nine phases with a top-view and an altitude-profile diagram; the pattern geometry (turn point, final approach point, land point below ground, resulting glide slope) in a collapsible section
• Choosing the landing direction: positive vs. negative headings, the calm-wind threshold nav_fw_land_max_tailwind, the headwind test, what happens when no direction qualifies, pattern side left/right — with its own diagram
• Setting up a landing site: Configurator and fwapproach CLI table, slot layout, sea-level reference
• Landing altitude and glide altitude: the glide starts at landing altitude + glide altitude above the ground; how a positive or negative landing altitude moves the touchdown; rangefinder behaviour and range caveat — with a three-panel diagram
• Global settings as a table with defaults and ranges, tuning advice, LAND waypoints, aborting, logic condition operand table

Corrections vs. the old page

• nav_fw_land_flare_alt default is 150 cm (was documented as 200), glide/flare pitch range starts at -15
• nav_rth_allow_landing values are NEVER / ALWAYS / FS_ONLY
• There is no flare without a rangefinder — the plane glides to touchdown at the glide pitch
• The nav_wp_radius advice is replaced: from INAV 10.0 the approach always flies coordinated COORD_FLYBY turns regardless of nav_fw_wp_turn_mode, the radius is only a fallback
• Abort: stick deflection beyond nav_fw_launch_land_abort_deadband, not possible once in the flare; no second attempt until RTH or the mission is re-engaged
• LAND waypoint: altitudes come from the landing settings, not from the waypoint

All statements were checked against the firmware source on maintenance-10.x.

Images

Four new SVGs under static/img/features-adv/fw-autoland/. The old PNGs stay because the versioned 9.1 docs reference them.

Note

The page links to fixed-wing-waypoint-turns.mdx, which comes with the coordinated-turns docs PR (for iNavFlight/inav#11812). Until that one is merged the link resolves to nothing; the build only warns on it.

🤖 Generated with Claude Code

[qodo-free-for-open-source-projects]

PR Summary by Qodo

Rewrite Fixed-Wing Autoland Guide for INAV 10.0

📝 Documentation 🕐 20-40 Minutes

AI Description

• Reorganizes autoland guidance around landing phases, direction selection, site setup, tuning, and
 aborts.
• Corrects INAV 10.0 settings, coordinated-turn, rangefinder, waypoint, and abort behavior.
• Adds four accessible SVG diagrams explaining pattern geometry, wind choice, and altitude effects.

Diagram

graph TD
  DOC["Autoland guide"] --> TOP["Pattern top view"] & PROFILE["Altitude profile"] & DIR["Direction choice"] & ALT["Altitude effects"]
  DOC --> SETTINGS["Firmware settings"] & RELATED["Related guides"]

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High-Level Assessment

The user-oriented rewrite is preferable to incrementally patching the legacy internal write-up because it presents the complete workflow coherently while correcting obsolete behavior. Purpose-built SVGs are also appropriate for scalable, accessible technical diagrams; coordinate the companion waypoint-turn documentation merge so its cross-link resolves.

Files changed (5) +166 / -104 · 4 not counted

Documentation (5) +166 / -104

fixed-wing-autoland.mdxRewrite fixed-wing autoland documentation for INAV 10.0 +166/-104

Rewrite fixed-wing autoland documentation for INAV 10.0

• Reframes autoland as a user workflow covering landing phases, direction selection, site configuration, altitude interactions, tuning, waypoint landings, aborts, and logic conditions. Corrects firmware settings and behavior for flare thresholds, rangefinders, coordinated turns, RTH modes, LAND waypoints, and abort handling.

docs/06-advanced-features/fixed-wing-autoland.mdx

pattern-top.svgAdd top-view landing pattern diagram _{not counted}

Add top-view landing pattern diagram

• Illustrates loiter, downwind, base, and final legs alongside turn-point placement, approach length, runway alignment, and the below-ground navigation target. Includes an accessible image description.

static/img/features-adv/fw-autoland/pattern-top.svg

pattern-profile.svgAdd landing altitude-profile diagram _{not counted}

Add landing altitude-profile diagram

• Visualizes altitude changes from downwind through base, final approach, glide, flare, and touchdown. Distinguishes the powered descent, motor-off glide, rangefinder-dependent flare, and below-ground land point.

static/img/features-adv/fw-autoland/pattern-profile.svg

direction-choice.svgAdd wind-based direction selection diagram _{not counted}

Add wind-based direction selection diagram

• Shows how configured bidirectional headings are tested against the measured wind and headwind sector. Contrasts winning, qualifying, and rejected landing directions while explaining negative exclusive headings.

static/img/features-adv/fw-autoland/direction-choice.svg

landing-altitude.svgAdd landing and glide altitude comparison diagram _{not counted}

Add landing and glide altitude comparison diagram

• Compares ground-level, positive, and negative landing-altitude configurations across three panels. Demonstrates how landing altitude plus glide altitude determines glide initiation and touchdown position.

static/img/features-adv/fw-autoland/landing-altitude.svg

[qodo-free-for-open-source-projects]

Code Review by Qodo

🐞 Bugs (1) 📘 Rule violations (0) 📎 Requirement gaps (0) 🎨 UX issues (0) 🔗 Cross-repo conflicts (0) 📜 Skill insights (0)

1. Logic conditions target the wrong landing phases 🐞 Bug ≡ Correctness

Description

The FW Land State table assigns Loiter to value 1 and shifts every subsequent phase, although
operand 41 exposes Downwind as 1 through Flare as 5. Users configuring logic conditions from this
table will trigger actions during the wrong phases, and the documented value 6 does not represent a
valid landing state.

Code

docs/06-advanced-features/fixed-wing-autoland.mdx[R210-218]

+| Value | Phase |
| --- | --- |
-| 0 | Idle/Inactive |
+| 0 | Idle, no landing active |
| 1 | Loiter |
| 2 | Downwind |
-| 3 | Base Leg |
-| 4 | Final Approach |
+| 3 | Base leg |
+| 4 | Final approach |
| 5 | Glide |
| 6 | Flare |

Evidence

The changed autoland page identifies operand ID 41 and lists values 0 through 6, including Loiter at
1. The repository's programming-framework reference defines the same operand as 0 Idle, 1 Downwind,
2 Base Leg, 3 Final Approach, 4 Glide, and 5 Flare, proving the new table is offset and contains an
invalid final value.

docs/06-advanced-features/fixed-wing-autoland.mdx[208-218]
docs/06-advanced-features/programming-framework.mdx[188-188]

Agent prompt

The issue below was found during a code review. Follow the provided context and guidance below and implement a solution

## Issue description
The FW Land State table assigns value 1 to Loiter and shifts all later phases, but operand 41 exposes value 0 as Idle, 1 as Downwind, 2 as Base Leg, 3 as Final Approach, 4 as Glide, and 5 as Flare. Users following the table will configure logic conditions against the wrong landing phases.
## Fix Focus Areas
- docs/06-advanced-features/fixed-wing-autoland.mdx[208-218]
- docs/06-advanced-features/programming-framework.mdx[188-188]
## Recommended Fix
Update the autoland operand table to match the programming framework definition: retain 0 as Idle, document 1 as Downwind, 2 as Base leg, 3 as Final approach, 4 as Glide, and 5 as Flare; remove the Loiter row and value 6.

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

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