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Code Issues Wiki Activity

Make nav_overrides_motor_stop tristate: OFF | AUTO_ONLY | ALL_NAV

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This commit is contained in:
Michel Pastor 2020-08-24 17:10:28 +02:00
parent ab051b18c7
commit 20efd8939c
4 changed files with 19 additions and 8 deletions
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11
src/main/fc/settings.yaml
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@ -149,6 +149,9 @@ tables:
values: ["TYPE1", "TYPE2"] values: ["TYPE1", "TYPE2"]
- name: off_on - name: off_on
values: ["OFF", "ON"] values: ["OFF", "ON"]
- name: nav_overrides_motor_stop
enum: navOverridesMotorStop_e
values: ["OFF", "AUTO_ONLY", "ALL_NAV"]
groups: groups:
- name: PG_GYRO_CONFIG - name: PG_GYRO_CONFIG
@ -2101,10 +2104,10 @@ groups:
min: 0 min: 0
max: 5000 max: 5000
- name: nav_overrides_motor_stop - name: nav_overrides_motor_stop
description: "Setting to OFF combined with MOTOR_STOP feature will allow user to stop motor when in autonomous modes. On most places this setting is likely to cause a stall." description: "When set OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV"
default_value: "ON" default_value: "NOMS_ALL_NAV"
field: general.flags.auto_overrides_motor_stop field: general.flags.nav_overrides_motor_stop
type: bool table: nav_overrides_motor_stop
- name: nav_rth_climb_first - name: nav_rth_climb_first
description: "If set to ON drone will climb to nav_rth_altitude first and head home afterwards. If set to OFF drone will head home instantly and climb on the way." description: "If set to ON drone will climb to nav_rth_altitude first and head home afterwards. If set to OFF drone will head home instantly and climb on the way."
default_value: "ON" default_value: "ON"

4
src/main/flight/mixer.c
View file

@ -579,7 +579,9 @@ motorStatus_e getMotorStatus(void)
} }
if (calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW) { if (calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW) {
if ((STATE(FIXED_WING_LEGACY) || !STATE(AIRMODE_ACTIVE)) && (!(navigationIsFlyingAutonomousMode() && navConfig()->general.flags.auto_overrides_motor_stop)) && (!failsafeIsActive())) { navOverridesMotorStop_e motorStopOverride = navConfig()->general.flags.nav_overrides_motor_stop;
if (!failsafeIsActive() && (STATE(FIXED_WING_LEGACY) || !STATE(AIRMODE_ACTIVE)) &&
((motorStopOverride == NOMS_OFF) || ((motorStopOverride == NOMS_ALL_NAV) && !navigationIsControllingThrottle()) || ((motorStopOverride == NOMS_AUTO_ONLY) && !navigationIsFlyingAutonomousMode()))) {
return MOTOR_STOPPED_USER; return MOTOR_STOPPED_USER;
} }
} }

4
src/main/navigation/navigation.c
View file

@ -87,7 +87,7 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0); PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif #endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 7); PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 8);
PG_RESET_TEMPLATE(navConfig_t, navConfig, PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = { .general = {
@ -102,7 +102,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.rth_tail_first = 0, .rth_tail_first = 0,
.disarm_on_landing = 0, .disarm_on_landing = 0,
.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS, .rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
.auto_overrides_motor_stop = 1, .nav_overrides_motor_stop = NOMS_ALL_NAV,
}, },
// General navigation parameters // General navigation parameters

8
src/main/navigation/navigation.h
View file

@ -124,6 +124,12 @@ typedef enum {
NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR = 4, NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR = 4,
} navArmingBlocker_e; } navArmingBlocker_e;
typedef enum {
NOMS_OFF,
NOMS_AUTO_ONLY,
NOMS_ALL_NAV
} navOverridesMotorStop_e;
typedef struct positionEstimationConfig_s { typedef struct positionEstimationConfig_s {
uint8_t automatic_mag_declination; uint8_t automatic_mag_declination;
uint8_t reset_altitude_type; // from nav_reset_type_e uint8_t reset_altitude_type; // from nav_reset_type_e
@ -175,7 +181,7 @@ typedef struct navConfig_s {
uint8_t disarm_on_landing; // uint8_t disarm_on_landing; //
uint8_t rth_allow_landing; // Enable landing as last stage of RTH. Use constants in navRTHAllowLanding_e. uint8_t rth_allow_landing; // Enable landing as last stage of RTH. Use constants in navRTHAllowLanding_e.
uint8_t rth_climb_ignore_emerg; // Option to ignore GPS loss on initial climb stage of RTH uint8_t rth_climb_ignore_emerg; // Option to ignore GPS loss on initial climb stage of RTH
uint8_t auto_overrides_motor_stop; // Autonomous modes override motor_stop setting and user command to stop motor uint8_t nav_overrides_motor_stop; // Autonomous modes override motor_stop setting and user command to stop motor
} flags; } flags;
uint8_t pos_failure_timeout; // Time to wait before switching to emergency landing (0 - disable) uint8_t pos_failure_timeout; // Time to wait before switching to emergency landing (0 - disable)