Add low throttle beeper

src/main/cms/cms_menu_navigation.c

@@ -132,6 +132,7 @@ static const OSD_Entry cmsx_menuFWLaunchEntries[] =
     OSD_SETTING_ENTRY("IDLE THROTTLE", SETTING_NAV_FW_LAUNCH_IDLE_THR),
     OSD_SETTING_ENTRY("MOTOR SPINUP TIME", SETTING_NAV_FW_LAUNCH_SPINUP_TIME),
     OSD_SETTING_ENTRY("TIMEOUT", SETTING_NAV_FW_LAUNCH_TIMEOUT),
+    OSD_SETTING_ENTRY("END TRANSITION TIME", SETTING_NAV_FW_LAUNCH_END_TIME),
     OSD_SETTING_ENTRY("MAX ALTITUDE", SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE),
     OSD_SETTING_ENTRY("CLIMB ANGLE", SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE),
     OSD_SETTING_ENTRY("MAX BANK ANGLE", SETTING_NAV_FW_LAUNCH_MAX_ANGLE),

src/main/fc/settings.yaml

@@ -2337,7 +2337,7 @@ groups:
         max: 1000
       - name: nav_fw_launch_end_time
         description: "Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]"
-        default_value: "3000"
+        default_value: "2000"
         field: fw.launch_end_time
         min: 0
         max: 5000

src/main/io/beeper.c

@@ -121,6 +121,10 @@ static const uint8_t beep_runtimeCalibrationDone[] = {
 static const uint8_t beep_launchModeBeep[] = {
     5, 5, 5, 100, BEEPER_COMMAND_STOP
 };
+// Two short beeps, then one shorter beep. Beeps to show the throttle needs to be raised. Will repeat every second while the throttle is low.
+static const uint8_t beep_launchModeLowThrottleBeep[] = {
+    5, 5, 5, 5, 3, 100, BEEPER_COMMAND_STOP
+};
 // short beeps
 static const uint8_t beep_hardwareFailure[] = {
     10, 10, BEEPER_COMMAND_STOP
@@ -184,6 +188,7 @@ typedef struct beeperTableEntry_s {
     { BEEPER_ENTRY(BEEPER_SYSTEM_INIT,              17, NULL,                           "SYSTEM_INIT") },
     { BEEPER_ENTRY(BEEPER_USB,                      18, NULL,                           "ON_USB") },
     { BEEPER_ENTRY(BEEPER_LAUNCH_MODE_ENABLED,      19, beep_launchModeBeep,            "LAUNCH_MODE") },
+    { BEEPER_ENTRY(BEEPER_LAUNCH_MODE_LOW_THROTTLE, 20, beep_launchModeLowThrottleBeep, "LAUNCH_MODE_LOW_THROTTLE") },
     { BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN,      20, beep_camOpenBeep,               "CAM_CONNECTION_OPEN") },
     { BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE,     21, beep_camCloseBeep,              "CAM_CONNECTION_CLOSED") },
 

src/main/io/beeper.h

@@ -43,6 +43,7 @@ typedef enum {
     BEEPER_SYSTEM_INIT,             // Initialisation beeps when board is powered on
     BEEPER_USB,                     // Some boards have beeper powered USB connected
     BEEPER_LAUNCH_MODE_ENABLED,     // Fixed-wing launch mode enabled
+    BEEPER_LAUNCH_MODE_LOW_THROTTLE,// Fixed-wing launch mode enabled, but throttle is low
     BEEPER_CAM_CONNECTION_OPEN,     // When the 5 key simulation stated
     BEEPER_CAM_CONNECTION_CLOSE,    // When the 5 key simulation stop
 

src/main/navigation/navigation_fw_launch.c

@@ -390,8 +390,12 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs) {
     updateRcCommand();
 
     // Control beeper
+    if (fwLaunch.currentState == FW_LAUNCH_STATE_WAIT_THROTTLE) {
+        beeper(BEEPER_LAUNCH_MODE_LOW_THROTTLE);
+    } else {
         beeper(BEEPER_LAUNCH_MODE_ENABLED);
     }
+}
 
 void resetFixedWingLaunchController(timeUs_t currentTimeUs) {
     setCurrentState(FW_LAUNCH_STATE_WAIT_THROTTLE, currentTimeUs);