remove duplicate settings

docs/Settings.md

@@ -2812,6 +2812,16 @@ Maximum climb/descent rate that UAV is allowed to reach during navigation modes.
 
 ---
 
+### nav_auto_disarm_delay
+
+Delay before craft disarms when `nav_disarm_on_landing` is set (ms)
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 2000 | 100 | 10000 |
+
+---
+
 ### nav_auto_speed
 
 Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]
@@ -2862,16 +2872,6 @@ Enable the possibility to manually increase the throttle in auto throttle contro
 
 ---
 
-### nav_fw_auto_disarm_delay
-
-Delay before plane disarms when `nav_disarm_on_landing` is set (ms)
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 2000 | 100 | 10000 |
-
----
-
 ### nav_fw_bank_angle
 
 Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
@@ -3442,16 +3442,6 @@ Max allowed above the ground altitude for terrain following mode
 
 ---
 
-### nav_mc_auto_disarm_delay
-
-Delay before multi-rotor disarms when `nav_disarm_on_landing` is set (ms)
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 2000 | 100 | 10000 |
-
----
-
 ### nav_mc_bank_angle
 
 Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude

src/main/fc/settings.yaml

@@ -2653,10 +2653,10 @@ groups:
         field: mc.max_bank_angle
         min: 15
         max: 45
-      - name: nav_mc_auto_disarm_delay
+      - name: nav_auto_disarm_delay
-        description: "Delay before multi-rotor disarms when `nav_disarm_on_landing` is set (ms)"
+        description: "Delay before craft disarms when `nav_disarm_on_landing` is set (ms)"
         default_value: 2000
-        field: mc.auto_disarm_delay
+        field: general.auto_disarm_delay
         min: 100
         max: 10000
       - name: nav_mc_braking_speed_threshold
@@ -2732,12 +2732,6 @@ groups:
         default_value: ON
         field: mc.slowDownForTurning
         type: bool
-      - name: nav_fw_auto_disarm_delay
-        description: "Delay before plane disarms when `nav_disarm_on_landing` is set (ms)"
-        default_value: 2000
-        field: fw.auto_disarm_delay
-        min: 100
-        max: 10000
       - name: nav_fw_bank_angle
         description: "Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll"
         default_value: 35

src/main/navigation/navigation.c

@@ -153,12 +153,12 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .rth_trackback_distance = SETTING_NAV_RTH_TRACKBACK_DISTANCE_DEFAULT,                   // Max distance allowed for RTH trackback
         .waypoint_enforce_altitude = SETTING_NAV_WP_ENFORCE_ALTITUDE_DEFAULT,                   // Forces set wp altitude to be achieved
         .land_detect_sensitivity = SETTING_NAV_LAND_DETECT_SENSITIVITY_DEFAULT,                 // Changes sensitivity of landing detection
+        .auto_disarm_delay = SETTING_NAV_AUTO_DISARM_DELAY_DEFAULT,                             // 2000 ms - time delay to disarm when auto disarm after landing enabled
     },
 
     // MC-specific
     .mc = {
         .max_bank_angle = SETTING_NAV_MC_BANK_ANGLE_DEFAULT,                          // degrees
-        .auto_disarm_delay = SETTING_NAV_MC_AUTO_DISARM_DELAY_DEFAULT,                // milliseconds - time before disarming when auto disarm is enabled and landing is confirmed
 
 #ifdef USE_MR_BRAKING_MODE
         .braking_speed_threshold = SETTING_NAV_MC_BRAKING_SPEED_THRESHOLD_DEFAULT,               // Braking can become active above 1m/s
@@ -211,7 +211,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
         .yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
         .soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled
-        .auto_disarm_delay = SETTING_NAV_FW_AUTO_DISARM_DELAY_DEFAULT,          // ms - time delay to disarm when auto disarm after landing enabled
         .wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT,    // 0, improves course tracking accuracy during FW WP missions
         .wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT,  // 60 degs
         .wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT,          // 0, smooths turns during FW WP mode missions

src/main/navigation/navigation.h

@@ -264,11 +264,11 @@ typedef struct navConfig_s {
         uint16_t rth_trackback_distance;            // RTH trackback maximum distance [m]
         uint16_t waypoint_enforce_altitude;         // Forces waypoint altitude to be achieved
         uint8_t  land_detect_sensitivity;           // Sensitivity of landing detector
+        uint16_t auto_disarm_delay;                 // safety time delay for landing detector
     } general;
 
     struct {
         uint8_t  max_bank_angle;                // multicopter max banking angle (deg)
-        uint16_t auto_disarm_delay;             // multicopter safety delay for landing detector
 
 #ifdef USE_MR_BRAKING_MODE
         uint16_t braking_speed_threshold;       // above this speed braking routine might kick in
@@ -315,7 +315,6 @@ typedef struct navConfig_s {
         bool     useFwNavYawControl;
         uint8_t  yawControlDeadband;
         uint8_t  soaring_pitch_deadband;     // soaring mode pitch angle deadband (deg)
-        uint16_t auto_disarm_delay;          // fixed wing disarm delay for landing detector
         uint8_t  wp_tracking_accuracy;       // fixed wing tracking accuracy response factor
         uint8_t  wp_tracking_max_angle;      // fixed wing tracking accuracy max alignment angle [degs]
         uint8_t  wp_turn_smoothing;          // WP mission turn smoothing options

src/main/navigation/navigation_fixedwing.c

@@ -723,7 +723,7 @@ bool isFixedWingLandingDetected(void)
             DEBUG_SET(DEBUG_LANDING, 7, isPitchAxisStatic);
             if (isRollAxisStatic && isPitchAxisStatic) {
                 // Probably landed, low horizontal and vertical velocities and no axis rotation in Roll and Pitch
-                timeMs_t safetyTimeDelay = 2000 + navConfig()->fw.auto_disarm_delay;
+                timeMs_t safetyTimeDelay = 2000 + navConfig()->general.auto_disarm_delay;
                 return currentTimeMs - fwLandingTimerStartAt > safetyTimeDelay; // check conditions stable for 2s + optional extra delay
             } else {
                 fixAxisCheck = false;

src/main/navigation/navigation_multicopter.c

@@ -799,7 +799,7 @@ bool isMulticopterLandingDetected(void)
     DEBUG_SET(DEBUG_LANDING, 5, possibleLandingDetected);
 
     if (possibleLandingDetected) {
-        timeUs_t safetyTimeDelay = MS2US(2000 + navConfig()->mc.auto_disarm_delay);  // check conditions stable for 2s + optional extra delay
+        timeUs_t safetyTimeDelay = MS2US(2000 + navConfig()->general.auto_disarm_delay);  // check conditions stable for 2s + optional extra delay
         return (currentTimeUs - landingDetectorStartedAt > safetyTimeDelay);
     } else {
         landingDetectorStartedAt = currentTimeUs;