add turn smoothing setting enum

docs/Settings.md

@@ -3284,11 +3284,11 @@ Waypoint tracking accuracy forces the craft to quickly head toward and track alo
 
 ### nav_fw_wp_turn_smoothing
 
-Smooths turns during WP missions by switching to a loiter turn at waypoints. 2 settings are possible. Setting 1 uses a loiter path that passes through the waypoint. Setting 2 uses a loiter path that cuts inside the turn without passing through the waypoint. Set to 0 to disable.
+Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner).
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0 | 0 | 2 |
+| OFF |  |  |
 
 ---
 

src/main/fc/settings.yaml

@@ -187,6 +187,9 @@ tables:
   - name: rth_trackback_mode
     values: ["OFF", "ON", "FS"]
     enum: rthTrackbackMode_e
+  - name: nav_fw_wp_turn_smoothing
+    values: ["OFF", "ON", "ON-CUT"]
+    enum: wpFwTurnSmoothing_e
 
 constants:
   RPYL_PID_MIN: 0
@@ -2427,11 +2430,10 @@ groups:
         min: 0
         max: 10
       - name: nav_fw_wp_turn_smoothing
-        description: "Smooths turns during WP missions by switching to a loiter turn at waypoints. 2 settings are possible. Setting 1 uses a loiter path that passes through the waypoint. Setting 2 uses a loiter path that cuts inside the turn without passing through the waypoint. Set to 0 to disable."
+        description: "Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner)."
-        default_value: 0
+        default_value: "OFF"
         field: fw.waypoint_turn_smoothing
-        min: 0
+        table: nav_fw_wp_turn_smoothing
-        max: 2
       - name: nav_auto_speed
         description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]"
         default_value: 300

src/main/navigation/navigation.h

@@ -169,6 +169,12 @@ typedef enum {
     RTH_TRACKBACK_FS,
 } rthTrackbackMode_e;
 
+typedef enum {
+    WP_TURN_SMOOTHING_OFF,
+    WP_TURN_SMOOTHING_ON,
+    WP_TURN_SMOOTHING_CUT,
+} wpFwTurnSmoothing_e;
+
 typedef struct positionEstimationConfig_s {
     uint8_t automatic_mag_declination;
     uint8_t reset_altitude_type; // from nav_reset_type_e

src/main/navigation/navigation_fixedwing.c

@@ -295,7 +295,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
     if (waypointTurnAngle > 3000 && waypointTurnAngle < 12000 && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) {
         // turnFactor adjusts start of loiter based on turn angle
         float turnFactor = 0.0f;
-        if (navConfig()->fw.waypoint_turn_smoothing == 1) {     // passes through WP
+        if (navConfig()->fw.waypoint_turn_smoothing == WP_TURN_SMOOTHING_ON) {     // passes through WP
             turnFactor = waypointTurnAngle / 6000.0f;
         } else {
             turnFactor = tan_approx(CENTIDEGREES_TO_RADIANS(waypointTurnAngle / 2.0f));    // cut inside turn missing WP
@@ -304,7 +304,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
         if (posControl.wpDistance < navLoiterRadius * turnFactor) {
             int32_t loiterCenterBearing = wrap_36000(((wrap_18000(posControl.activeWaypoint.nextTurnAngle - 18000)) / 2) + posControl.activeWaypoint.yaw + 18000);
             float distToTurnCentre = navLoiterRadius;
-            if (navConfig()->fw.waypoint_turn_smoothing == 2) {
+            if (navConfig()->fw.waypoint_turn_smoothing == WP_TURN_SMOOTHING_CUT) {
                 distToTurnCentre = navLoiterRadius / cos_approx(CENTIDEGREES_TO_RADIANS(waypointTurnAngle / 2.0f));
             }
             loiterCenterPos.x = posControl.activeWaypoint.pos.x + distToTurnCentre * cos_approx(CENTIDEGREES_TO_RADIANS(loiterCenterBearing));