Good behaviour in simulator mode

Disabled servo and level trim on simulator mode

src/main/fc/fc_msp.c

@@ -3279,9 +3279,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
             attitude.values.roll = sbufReadU16(src)-1800;
             attitude.values.pitch = sbufReadU16(src)-1800;
             attitude.values.yaw = sbufReadU16(src);
-//            posEstimator.est.pos.x = attitude.values.roll;
-//            posEstimator.est.pos.y = attitude.values.pitch;
-//            posEstimator.est.pos.z = gpsSol.llh.alt;
 
             acc.accADCf[X] = (float)sbufReadU16(src) / 1000 - 32;// / GRAVITY_CMSS;
             acc.accADCf[Y] = (float)sbufReadU16(src) / 1000 - 32;// / GRAVITY_CMSS;
@@ -3296,12 +3293,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
             DISABLE_STATE(GPS_FIX);
         }
 
-//        sbufWriteU16(dst, motor[0]);
-//        sbufWriteU16(dst, servo[1]);
-//        sbufWriteU16(dst, servo[2]);
-//        sbufWriteU16(dst, servo[3]);
-//        sbufWriteU16(dst, servo[4]);
-
         sbufWriteU16(dst, input[INPUT_STABILIZED_ROLL] + 500);
         sbufWriteU16(dst, input[INPUT_STABILIZED_PITCH] + 500);
         sbufWriteU16(dst, input[INPUT_STABILIZED_YAW] + 500);

src/main/fc/fc_tasks.c

@@ -312,8 +312,10 @@ void taskUpdateAux(timeUs_t currentTimeUs)
 {
     updatePIDCoefficients();
     dynamicLpfGyroTask();
+    if (! ARMING_FLAG(SIMULATOR_MODE)) {
         updateFixedWingLevelTrim(currentTimeUs);
     }
+}
 
 void fcTasksInit(void)
 {

src/main/fc/settings.yaml

@@ -2482,7 +2482,7 @@ groups:
         description: "Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]"
         default_value: 50
         field: general.land_minalt_vspd
-        min: 50
+        min: 0
         max: 500
       - name: nav_land_maxalt_vspd
         description: "Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]"

src/main/flight/servos.c

@@ -564,6 +564,9 @@ void processContinuousServoAutotrim(const float dT)
 }
 
 void processServoAutotrim(const float dT) {
+    if (ARMING_FLAG(SIMULATOR_MODE)) {
+        return;
+    }
     if (feature(FEATURE_FW_AUTOTRIM)) {
         processContinuousServoAutotrim(dT);
     } else {

src/main/navigation/navigation_fixedwing.c

@@ -536,6 +536,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
         if (navStateFlags & NAV_CTL_LAND) {
             // During LAND we do not allow to raise THROTTLE when nose is up to reduce speed
             throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, 0);
+            throttleCorrection = minThrottleCorrection;
         } else {
 #endif
             throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection);

src/main/navigation/navigation_pos_estimator.c

@@ -526,9 +526,6 @@ static uint32_t calculateCurrentValidityFlags(timeUs_t currentTimeUs)
 
 static void estimationPredict(estimationContext_t * ctx)
 {
-    if (ARMING_FLAG(SIMULATOR_MODE)) {
-        //return; // posEstimator.est.* was set into fc_msp
-    }
     const float accWeight = navGetAccelerometerWeight();
 
     /* Prediction step: Z-axis */