move deadbands for pos and alt hold to their config files.

src/main/blackbox/blackbox.c

@@ -1814,12 +1814,12 @@ static bool blackboxWriteSysinfo(void)
 
 #ifdef USE_ALT_HOLD_MODE
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_ADJUST_RATE, "%d", altHoldConfig()->alt_hold_adjust_rate);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND,    "%d", rcControlsConfig()->alt_hold_deadband);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND,    "%d", altHoldConfig()->alt_hold_deadband);
 #endif
 
 #ifdef USE_POS_HOLD_MODE
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND,    "%d", rcControlsConfig()->pos_hold_deadband);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND,    "%d", posHoldConfig()->pos_hold_deadband);
 #endif
 
 #ifdef USE_WING

src/main/cli/settings.c

@@ -56,15 +56,12 @@
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 
-#include "flight/alt_hold.h"
-#include "flight/autopilot.h"
 #include "flight/failsafe.h"
 #include "flight/gps_rescue.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
-#include "flight/pos_hold.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
 
@@ -81,6 +78,8 @@
 #include "osd/osd.h"
 
 #include "pg/adc.h"
+#include "pg/alt_hold.h"
+#include "pg/autopilot.h"
 #include "pg/beeper.h"
 #include "pg/beeper_dev.h"
 #include "pg/bus_i2c.h"
@@ -98,6 +97,7 @@
 #include "pg/pg_ids.h"
 #include "pg/pinio.h"
 #include "pg/piniobox.h"
+#include "pg/pos_hold.h"
 #include "pg/rx.h"
 #include "pg/rx_pwm.h"
 #include "pg/rx_spi.h"
@@ -1110,12 +1110,12 @@ const clivalue_t valueTable[] = {
 
 #ifdef USE_ALT_HOLD_MODE
     { PARAM_NAME_ALT_HOLD_ADJUST_RATE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
-    { PARAM_NAME_ALT_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) },
+    { PARAM_NAME_ALT_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
 #endif
 
 #ifdef USE_POS_HOLD_MODE
     { PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
-    { PARAM_NAME_POS_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, pos_hold_deadband) },
+    { PARAM_NAME_POS_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
 #endif
 
 // PG_PID_CONFIG

src/main/fc/parameter_names.h

@@ -247,13 +247,13 @@
 #endif // USE_GPS
 
 #ifdef USE_ALT_HOLD_MODE
-#define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband" // from rcControlsConfig
+#define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband"
 #define PARAM_NAME_ALT_HOLD_ADJUST_RATE "alt_hold_adjust_rate"
 #endif
 
 #ifdef USE_POS_HOLD_MODE
 #define PARAM_NAME_POS_HOLD_WITHOUT_MAG "pos_hold_without_mag"
-#define PARAM_NAME_POS_HOLD_DEADBAND "pos_hold_deadband" // from rcControlsConfig
+#define PARAM_NAME_POS_HOLD_DEADBAND "pos_hold_deadband"
 #endif
 
 #define PARAM_NAME_IMU_DCM_KP "imu_dcm_kp"

src/main/fc/rc.c

@@ -48,6 +48,7 @@
 #include "flight/pid_init.h"
 
 #include "pg/rx.h"
+#include "pg/pos_hold.h"
 
 #include "rx/rx.h"
 
@@ -757,9 +758,9 @@ FAST_CODE_NOINLINE void updateRcCommands(void)
 #ifdef USE_POS_HOLD_MODE
             float tmpDeadband = rcControlsConfig()->deadband;
             if (FLIGHT_MODE(POS_HOLD_MODE)) {
-                if (rcControlsConfig()->pos_hold_deadband) {
+                if (posHoldConfig()->pos_hold_deadband) {
                     // if pos_hold_deadband is defined, ignore pitch & roll within deadband zone
-                    tmpDeadband = rcControlsConfig()->pos_hold_deadband * 5.0f;
+                    tmpDeadband = posHoldConfig()->pos_hold_deadband * 5.0f;
                     // NB could attenuate RP responsiveness outside deadband here, with tmp * 0.8f or whatever
                 } else {
                     // if pos_hold_deadband is zero, prevent user adjustment of pitch or roll
@@ -855,8 +856,8 @@ void initRcProcessing(void)
 {
 #ifdef USE_POS_HOLD_MODE
         if (FLIGHT_MODE(POS_HOLD_MODE)) {
-            if (rcControlsConfig()->pos_hold_deadband) {
+            if (posHoldConfig()->pos_hold_deadband) {
-                rcCommandDivider = 500.0f - rcControlsConfig()->pos_hold_deadband * 5.0f; // pos hold deadband in percent
+                rcCommandDivider = 500.0f - posHoldConfig()->pos_hold_deadband * 5.0f; // pos hold deadband in percent
             }
         }
 #else

src/main/fc/rc_controls.c

@@ -78,8 +78,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONT
 PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
     .deadband = 0,
     .yaw_deadband = 0,
-    .alt_hold_deadband = 40,
-    .pos_hold_deadband = 10,
     .yaw_control_reversed = false,
 );
 

src/main/fc/rc_controls.h

@@ -110,8 +110,6 @@ typedef struct rcSmoothingFilter_s {
 typedef struct rcControlsConfig_s {
     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
-    uint8_t alt_hold_deadband;              // throttle deadband while in altitude hold
-    uint8_t pos_hold_deadband;              // RPY deadband while in position hold
     bool yaw_control_reversed;              // invert control direction of yaw
 } rcControlsConfig_t;
 

src/main/flight/alt_hold.c

@@ -66,7 +66,7 @@ void altHoldReset(void)
 void altHoldInit(void)
 {
     altHoldState.isAltHoldActive = false;
-    altHoldState.deadband = rcControlsConfig()->alt_hold_deadband / 100.0f;
+    altHoldState.deadband = altHoldConfig()->alt_hold_deadband / 100.0f;
     altHoldReset();
 }
 

src/main/flight/pos_hold.c

@@ -43,8 +43,8 @@ void posHoldResetTargetLocation(void)
 
 void posHoldInit(void)
 {
-    posHold.deadband = rcControlsConfig()->pos_hold_deadband / 100.0f;
+    posHold.deadband = posHoldConfig()->pos_hold_deadband / 100.0f;
-    posHold.useStickAdjustment = rcControlsConfig()->pos_hold_deadband;
+    posHold.useStickAdjustment = posHoldConfig()->pos_hold_deadband;
     posHold.posHoldIsOK = false;
 }
 

src/main/msp/msp.c

@@ -124,6 +124,7 @@
 #include "pg/dyn_notch.h"
 #include "pg/gyrodev.h"
 #include "pg/motor.h"
+#include "pg/pos_hold.h"
 #include "pg/rx.h"
 #include "pg/rx_spi.h"
 #ifdef USE_RX_EXPRESSLRS
@@ -1806,7 +1807,7 @@ case MSP_NAME:
     case MSP_RC_DEADBAND:
         sbufWriteU8(dst, rcControlsConfig()->deadband);
         sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
-        sbufWriteU8(dst, rcControlsConfig()->pos_hold_deadband);
+        sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband);
         sbufWriteU16(dst, flight3DConfig()->deadband3d_throttle);
         break;
 
@@ -2962,7 +2963,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
     case MSP_SET_RC_DEADBAND:
         rcControlsConfigMutable()->deadband = sbufReadU8(src);
         rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
-        rcControlsConfigMutable()->pos_hold_deadband = sbufReadU8(src);
+        posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src);
         flight3DConfigMutable()->deadband3d_throttle = sbufReadU16(src);
         break;
 

src/main/pg/alt_hold.c

@@ -34,5 +34,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFI
 
 PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig,
     .alt_hold_adjust_rate = 100, // max rate of change of altitude target using sticks in cm/s
+    .alt_hold_deadband = 40, // throttle deadband in percent of stick travel
 );
 #endif

src/main/pg/alt_hold.h

@@ -27,7 +27,7 @@
 
 typedef struct altHoldConfig_s {
     uint8_t alt_hold_adjust_rate;
+    uint8_t alt_hold_deadband;
 } altHoldConfig_t;
 
 PG_DECLARE(altHoldConfig_t, altHoldConfig);
-

src/main/pg/pos_hold.c

@@ -34,5 +34,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFI
 
 PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
     .pos_hold_without_mag = false,     // position hold within this percentage stick deflection
+    .pos_hold_deadband = 15, // deadband in percent of stick travel for roll and pitch. Must be non-zero, and exceeded, for target location to be changed with sticks
 );
 #endif

src/main/pg/pos_hold.h

@@ -27,7 +27,7 @@
 
 typedef struct posHoldConfig_s {
     bool pos_hold_without_mag;
+    uint8_t pos_hold_deadband;
 } posHoldConfig_t;
 
 PG_DECLARE(posHoldConfig_t, posHoldConfig);
-