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Code Issues Wiki Activity

remove duplicate settings

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This commit is contained in:
breadoven 2022-09-27 21:42:31 +01:00
parent 16be85975a
commit 0fb8897eb9
6 changed files with 17 additions and 35 deletions
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30
docs/Settings.md
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@ -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

12
src/main/fc/settings.yaml
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@ -2653,10 +2653,10 @@ groups:
field: mc.max_bank_angle
min: 15
max: 45
- name: nav_mc_auto_disarm_delay
description: "Delay before multi-rotor disarms when `nav_disarm_on_landing` is set (ms)"
- name: nav_auto_disarm_delay
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

3
src/main/navigation/navigation.c
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@ -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

3
src/main/navigation/navigation.h
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@ -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

2
src/main/navigation/navigation_fixedwing.c
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@ -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;

2
src/main/navigation/navigation_multicopter.c
View file

@ -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;