4.6:Glider pullup

Author: Hwurzburg

plane/source/docs/flight-features.rst

@@ -22,3 +22,4 @@ a full set of features see the :doc:`full parameter list <parameters>` and the `
     Automated Aerobatics (prior to 4.4)<common-scripting-aerobatics>
     Automated Aerobatics (4.4 and later) <common-scripted-aerobatics-4.4>
     Moving Vehicle/Ship Takeoff/Landing <common-ship-landing>
+    High Altitude Glider Drop Pullup <glider-pullup>

plane/source/docs/glider-pullup.rst

@@ -0,0 +1,19 @@
+.. _glider-pullup:
+
+========================================
+Glider Pullup from Dive to Normal Flight
+========================================
+
+Intended to control and automate the pullup of a glider from a free fall dive to normal flight in hihg altitude balloon drops, this feature is not normally included in the firmware (except SITL sims) and a version built using the `Custom Firmware Build Server <https://custom.ardupilot.org>`__.
+
+The feature is enabled with the :ref:`PUP_ENABLE <PUP_ENABLE>` parameter. When enabled it adds a new stage to the NAV_ALTITUDE_WAIT mission item, controlled by the PUP_* parameters. This stage controls the pullup maneuver where we do a g-force limited pullup out of a dive, bring the aircraft to a normal flight regime where normal mission commands can take over.
+
+The following parameters apply to this feature:
+
+- :ref:`PUP_ENABLE <PUP_ENABLE>`
+- :ref:`PUP_ELEV_OFS <PUP_ELEV_OFS>`
+- :ref:`PUP_NG_LIM <PUP_NG_LIM>`
+- :ref:`PUP_NG_JERK_LIM <PUP_NG_JERK_LIM>`
+- :ref:`PUP_PITCH <PUP_PITCH>`
+- :ref:`PUP_ARSPD_START <PUP_ARSPD_START>`
+- :ref:`PUP_PITCH_START <PUP_PITCH_START>`