Merge pull request #3349 from iNavFlight/de_nav_motor_stop

New setting for disabling motor_stop in NAV modes

docs/Cli.md

@@ -163,6 +163,7 @@ After restoring it's always a good idea to `dump` or `diff` the settings once ag
 |  nav_land_slowdown_maxalt  | 2000 | Defines at what altitude the descent velocity should start to ramp down from 100% nav_landing_speed to 25% nav_landing_speed. [cm] |
 |  nav_emerg_landing_speed  | 500 | Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s] |
 |  nav_min_rth_distance  | 500 | Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase. |
+|  nav_overrides_motor_stop | ON | 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. |
 |  nav_rth_climb_first  | ON | 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. |
 |  nav_rth_tail_first  | OFF | If set to ON drone will return tail-first. Obviously meaningless for airplanes. |
 |  nav_rth_allow_landing  | ALWAYS | If set to ON drone will land as a last phase of RTH. |

src/main/fc/settings.yaml

@@ -1262,6 +1262,9 @@ groups:
         field: general.min_rth_distance
         min: 0
         max: 5000
+      - name: nav_overrides_motor_stop
+        field: general.flags.auto_overrides_motor_stop
+        type: bool
       - name: nav_rth_climb_first
         field: general.flags.rth_climb_first
         type: bool

src/main/flight/mixer.c

@@ -371,11 +371,15 @@ void mixTable(const float dT)
 
 motorStatus_e getMotorStatus(void)
 {
-    if (failsafeRequiresMotorStop() || (!failsafeIsActive() && STATE(NAV_MOTOR_STOP_OR_IDLE)))
+    if (failsafeRequiresMotorStop() || (!failsafeIsActive() && STATE(NAV_MOTOR_STOP_OR_IDLE))) {
         return MOTOR_STOPPED_AUTO;
+    }
 
-    if ((STATE(FIXED_WING) || !isAirmodeActive()) && (!navigationIsFlyingAutonomousMode()) && (!failsafeIsActive()) && (rcData[THROTTLE] < rxConfig()->mincheck))
+    if (rcData[THROTTLE] < rxConfig()->mincheck) {
-        return MOTOR_STOPPED_USER;
+        if ((STATE(FIXED_WING) || !isAirmodeActive()) && (!(navigationIsFlyingAutonomousMode() && navConfig()->general.flags.auto_overrides_motor_stop)) && (!failsafeIsActive())) {
+            return MOTOR_STOPPED_USER;
+        }
+    }
 
     return MOTOR_RUNNING;
 }

src/main/navigation/navigation.c

@@ -92,6 +92,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
             .rth_tail_first = 0,
             .disarm_on_landing = 0,
             .rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
+            .auto_overrides_motor_stop = 1,
         },
 
         // General navigation parameters

src/main/navigation/navigation.h

@@ -126,6 +126,7 @@ typedef struct navConfig_s {
             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_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
         } flags;
 
         uint8_t  pos_failure_timeout;           // Time to wait before switching to emergency landing (0 - disable)