MAVLink messages update Tue Dec 10 23:21:52 UTC 2024

en/messages/development.md

@@ -383,11 +383,10 @@ Value | Name | Description
 <a id='MAV_STANDARD_MODE_ORBIT'></a>2 | [MAV_STANDARD_MODE_ORBIT](#MAV_STANDARD_MODE_ORBIT) | Orbit (manual).<br>Position-controlled and stabilized manual mode.<br>The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.<br>Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.<br>Flight stacks may support the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) for changing the orbit parameters.<br>MC and FW vehicles may support this mode.<br>Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
 <a id='MAV_STANDARD_MODE_CRUISE'></a>3 | [MAV_STANDARD_MODE_CRUISE](#MAV_STANDARD_MODE_CRUISE) | Cruise mode (manual).<br>Position-controlled and stabilized manual mode.<br>When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.<br>Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.<br>Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.<br>Multicopter (MC) vehicles must not support this mode.<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
 <a id='MAV_STANDARD_MODE_ALTITUDE_HOLD'></a>4 | [MAV_STANDARD_MODE_ALTITUDE_HOLD](#MAV_STANDARD_MODE_ALTITUDE_HOLD) | Altitude hold (manual).<br>Altitude-controlled and stabilized manual mode.<br>When sticks are released vehicles return to their level-flight orientation and hold their altitude.<br>MC vehicles continue with existing momentum and may move with wind (or other external forces).<br>FW vehicles continue with current heading, but may be moved off-track by wind.<br>Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
-<a id='MAV_STANDARD_MODE_RETURN_HOME'></a>5 | [MAV_STANDARD_MODE_RETURN_HOME](#MAV_STANDARD_MODE_RETURN_HOME) | Return home mode (auto).<br>Automatic mode that returns vehicle to home via a safe flight path.<br>It may also automatically land the vehicle (i.e. RTL).<br>The precise flight path and landing behaviour depend on vehicle configuration and type. 
-<a id='MAV_STANDARD_MODE_SAFE_RECOVERY'></a>6 | [MAV_STANDARD_MODE_SAFE_RECOVERY](#MAV_STANDARD_MODE_SAFE_RECOVERY) | Safe recovery mode (auto).<br>Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .<br>It may also automatically land the vehicle.<br>The precise return location, flight path, and landing behaviour depend on vehicle configuration and type. 
-<a id='MAV_STANDARD_MODE_MISSION'></a>7 | [MAV_STANDARD_MODE_MISSION](#MAV_STANDARD_MODE_MISSION) | Mission mode (automatic).<br>Automatic mode that executes MAVLink missions.<br>Missions are executed from the current waypoint as soon as the mode is enabled. 
-<a id='MAV_STANDARD_MODE_LAND'></a>8 | [MAV_STANDARD_MODE_LAND](#MAV_STANDARD_MODE_LAND) | Land mode (auto).<br>Automatic mode that lands the vehicle at the current location.<br>The precise landing behaviour depends on vehicle configuration and type. 
-<a id='MAV_STANDARD_MODE_TAKEOFF'></a>9 | [MAV_STANDARD_MODE_TAKEOFF](#MAV_STANDARD_MODE_TAKEOFF) | Takeoff mode (auto).<br>Automatic takeoff mode.<br>The precise takeoff behaviour depends on vehicle configuration and type. 
+<a id='MAV_STANDARD_MODE_SAFE_RECOVERY'></a>5 | [MAV_STANDARD_MODE_SAFE_RECOVERY](#MAV_STANDARD_MODE_SAFE_RECOVERY) | Safe recovery mode (auto).<br>Automatic mode that takes vehicle to a predefined safe location via a safe flight path, and may also automatically land the vehicle.<br>This mode is more commonly referred to as RTL and/or or Smart RTL.<br>The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.<br>For example, the vehicle might return to the home/launch location, a rally point, or the start of a mission landing, it might follow a direct path, mission path, or breadcrumb path, and land using a mission landing pattern or some other kind of descent. 
+<a id='MAV_STANDARD_MODE_MISSION'></a>6 | [MAV_STANDARD_MODE_MISSION](#MAV_STANDARD_MODE_MISSION) | Mission mode (automatic).<br>Automatic mode that executes MAVLink missions.<br>Missions are executed from the current waypoint as soon as the mode is enabled. 
+<a id='MAV_STANDARD_MODE_LAND'></a>7 | [MAV_STANDARD_MODE_LAND](#MAV_STANDARD_MODE_LAND) | Land mode (auto).<br>Automatic mode that lands the vehicle at the current location.<br>The precise landing behaviour depends on vehicle configuration and type. 
+<a id='MAV_STANDARD_MODE_TAKEOFF'></a>8 | [MAV_STANDARD_MODE_TAKEOFF](#MAV_STANDARD_MODE_TAKEOFF) | Takeoff mode (auto).<br>Automatic takeoff mode.<br>The precise takeoff behaviour depends on vehicle configuration and type. 
 
 ### MAV_MODE_PROPERTY — [WIP] {#MAV_MODE_PROPERTY}