Improved configuration and state split

src/main/fc/runtime_config.h

@@ -100,11 +100,8 @@ typedef enum {
     ACCELEROMETER_CALIBRATED= (1 << 9),
     PWM_DRIVER_AVAILABLE    = (1 << 10),
     HELICOPTER              = (1 << 11),
-    NAV_CRUISE_ACCELERATING = (1 << 12),
+    NAV_CRUISE_BRAKING      = (1 << 12),
-    NAV_CRUISE_BRAKING      = (1 << 13),
+    NAV_CRUISE_BRAKING_BOOST = (1 << 13),
-    NAV_HIGHSPEED_CRUISE    = (1 << 14),
-    NAV_CRUISE_STOPPED      = (1 << 15),
-    NAV_CRUISE_STORE_POSITION = (1 << 16)
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))

src/main/fc/settings.yaml

@@ -1246,12 +1246,31 @@ groups:
       - name: nav_mc_braking_speed_threshold
         field: mc.braking_speed_threshold
         min: 0
-        max: 1000      
+        max: 1000   
+      - name: nav_mc_braking_disengage_speed
+        field: mc.braking_disengage_speed
+        min: 0
+        max: 1000  
+      - name: nav_mc_braking_timeout
+        field: mc.braking_timeout
+        min: 100
+        max: 5000 
       - name: nav_mc_braking_boost_factor
         field: mc.braking_boost_factor
         min: 0
-        max: 200
+        max: 200  
-
+      - name: nav_mc_braking_boost_timeout
+        field: mc.braking_boost_timeout
+        min: 0
+        max: 5000  
+      - name: nav_mc_braking_boost_speed_threshold
+        field: mc.braking_boost_speed_threshold
+        min: 100
+        max: 1000  
+      - name: nav_mc_braking_boost_disengage_speed
+        field: mc.braking_boost_disengage_speed
+        min: 0
+        max: 1000  
       - name: nav_fw_cruise_thr
         field: fw.cruise_throttle
         min: 1000

src/main/navigation/navigation.c

@@ -76,7 +76,7 @@ PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList);
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 2);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -116,8 +116,13 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .max_bank_angle = 30,      // 30 deg
         .hover_throttle = 1500,
         .auto_disarm_delay = 2000,
-        .braking_speed_threshold = 100,
+        .braking_speed_threshold = 100, // Braking can become active above 1m/s
-        .braking_boost_factor = 0,
+        .braking_disengage_speed = 75,  // Stop when speed goes below 0.75m/s
+        .braking_timeout = 2000,        // Timeout barking after 2s
+        .braking_boost_factor = 0,      // By default do not use boost factor
+        .braking_boost_timeout = 750,    // Timout boost after 750ms
+        .braking_boost_speed_threshold = 200, //Boost can happen only above 2m/s
+        .braking_boost_disengage_speed = 100, //Disable boost at 1m/s
     },
 
     // Fixed wing
@@ -1960,6 +1965,7 @@ static bool adjustPositionFromRCInput(void)
 {
     bool retValue;
     static uint32_t brakingModeDisengageAt = 0;
+    static uint32_t brakingBoostModeDisengageAt = 0;
 
     if (STATE(FIXED_WING)) {
         retValue = adjustFixedWingPositionFromRCInput();
@@ -1993,7 +1999,7 @@ static bool adjustPositionFromRCInput(void)
                 DEBUG_SET(DEBUG_BRAKING, 0, 1);
 
                 //Set forced BRAKING disengage moment
-                brakingModeDisengageAt = millis() + 500;
+                brakingModeDisengageAt = millis() + navConfig()->mc.braking_timeout;
             }
 
             //Forced BRAKING disengage routine
@@ -2009,7 +2015,7 @@ static bool adjustPositionFromRCInput(void)
              * Case when we were braking but copter finally stopped or we started to move the sticks
              */
             if (STATE(NAV_CRUISE_BRAKING) && (
-                posControl.actualState.velXY <= navConfig()->mc.braking_speed_threshold ||
+                posControl.actualState.velXY <= navConfig()->mc.braking_disengage_speed ||
                 rcPitchAdjustment ||
                 rcRollAdjustment
             )) {

src/main/navigation/navigation.h

@@ -138,11 +138,16 @@ typedef struct navConfig_s {
     } general;
 
     struct {
-        uint8_t  max_bank_angle;             // multicopter max banking angle (deg)
+        uint8_t  max_bank_angle;                // multicopter max banking angle (deg)
-        uint16_t hover_throttle;             // multicopter hover throttle
+        uint16_t hover_throttle;                // multicopter hover throttle
-        uint16_t auto_disarm_delay;          // multicopter safety delay for landing detector
+        uint16_t auto_disarm_delay;             // multicopter safety delay for landing detector
-        uint16_t braking_speed_threshold;    // above this speed braking routine might kick in
+        uint16_t braking_speed_threshold;       // above this speed braking routine might kick in
-        uint8_t  braking_boost_factor;
+        uint16_t braking_disengage_speed;       // below this speed braking will be disengaged
+        uint16_t braking_timeout;               // Timeout for braking mode
+        uint8_t  braking_boost_factor;          // Acceleration boost multiplier at max speed
+        uint16_t braking_boost_timeout;         // Timeout for boost mode
+        uint16_t braking_boost_speed_threshold; // Above this speed braking boost mode can engage
+        uint16_t braking_boost_disengage_speed; // Below this speed braking boost will disengage
     } mc;
 
     struct {