first build

src/main/fc/settings.yaml

@@ -2824,6 +2824,11 @@ groups:
         field: fw.launch_climb_angle
         min: 5
         max: 45
+      - name: nav_fw_launch_manual_throttle
+        description: "Allow launch with manually controlled throttle. INAV only levels wings and controls climb angle during launch. Throttle is controlled directly by throttle stick movement. Launch timers start when throttle stick is raised above idle."
+        default_value: OFF
+        field: fw.launch_manual_throttle
+        type: bool
       - name: nav_fw_cruise_yaw_rate
         description: "Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]"
         default_value: 20

src/main/navigation/navigation.c

@@ -201,6 +201,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT,      // cm, altitude where to consider launch ended
         .launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT,        // 18 degrees
         .launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT,            // 45 deg
+        .launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
         .cruise_yaw_rate  = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT,             // 20dps
         .allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
         .useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
@@ -1750,6 +1751,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
     const timeUs_t currentTimeUs = micros();
     UNUSED(previousState);
 
+    // Continue immediately to launch in progress if manual launch throttle used
+    if (navConfig()->fw.launch_manual_throttle) {
+        return NAV_FSM_EVENT_SUCCESS;
+    }
+
     if (fixedWingLaunchStatus() == FW_LAUNCH_DETECTED) {
         enableFixedWingLaunchController(currentTimeUs);
         return NAV_FSM_EVENT_SUCCESS;   // NAV_STATE_LAUNCH_IN_PROGRESS

src/main/navigation/navigation.h

@@ -294,6 +294,7 @@ typedef struct navConfig_s {
         uint16_t launch_max_altitude;        // cm, altitude where to consider launch ended
         uint8_t  launch_climb_angle;         // Target climb angle for launch (deg)
         uint8_t  launch_max_angle;           // Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]
+        bool     launch_manual_throttle;     // Allows launch with manual throttle control
         uint8_t  cruise_yaw_rate;            // Max yaw rate (dps) when CRUISE MODE is enabled
         bool     allow_manual_thr_increase;
         bool     useFwNavYawControl;

src/main/navigation/navigation_fw_launch.c

@@ -416,13 +416,27 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_SPINUP(timeUs_
 
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t currentTimeUs)
 {
-    rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
+    uint16_t initialTime = navConfig()->fw.launch_motor_timer + navConfig()->fw.launch_motor_spinup_time;
+
+    if (navConfig()->fw.launch_manual_throttle) {
+        // reset timers when throttle is low and abort launch regardless of launch settings
+        if (isThrottleLow()) {
+            fwLaunch.currentStateTimeUs = currentTimeUs;
+            initialTime = 0;
+            if (isRollPitchStickDeflected()) {
+                return FW_LAUNCH_EVENT_ABORT;
+            }
+        }
+        fwLaunch.pitchAngle = navConfig()->fw.launch_climb_angle;
+    } else {
+        rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
+    }
 
     if (isLaunchMaxAltitudeReached()) {
         return FW_LAUNCH_EVENT_SUCCESS; // cancel the launch and do the FW_LAUNCH_STATE_FINISH state
     }
 
-    if (areSticksMoved(navConfig()->fw.launch_motor_timer + navConfig()->fw.launch_motor_spinup_time, currentTimeUs)) {
+    if (areSticksMoved(initialTime, currentTimeUs)) {
         return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_ABORTED state
     }
 
@@ -442,9 +456,12 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
         return FW_LAUNCH_EVENT_SUCCESS;     // End launch go to FW_LAUNCH_STATE_FLYING state
     }
     else {
-        // make a smooth transition from the launch state to the current state for throttle and the pitch angle
-        const uint16_t launchThrottle = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
-        rcCommand[THROTTLE] = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs,  launchThrottle, rcCommand[THROTTLE]);
+        // Make a smooth transition from the launch state to the current state for pitch angle
+        // Do the same for throttle when manual launch throttle isn't used
+        if (!navConfig()->fw.launch_manual_throttle) {
+            const uint16_t launchThrottle = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
+            rcCommand[THROTTLE] = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs, launchThrottle, rcCommand[THROTTLE]);
+        }
         fwLaunch.pitchAngle = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs, navConfig()->fw.launch_climb_angle, rcCommand[PITCH]);
     }
 
@@ -498,7 +515,13 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
 
 void resetFixedWingLaunchController(timeUs_t currentTimeUs)
 {
-    setCurrentState(FW_LAUNCH_STATE_WAIT_THROTTLE, currentTimeUs);
+    if (navConfig()->fw.launch_manual_throttle) {
+        // no detection or motor control required with manual launch throttle
+        // so start at launch in progress
+        setCurrentState(FW_LAUNCH_STATE_IN_PROGRESS, currentTimeUs);
+    } else {
+        setCurrentState(FW_LAUNCH_STATE_WAIT_THROTTLE, currentTimeUs);
+    }
 }
 
 void enableFixedWingLaunchController(timeUs_t currentTimeUs)