Add setting nav_overrides_motor_stop_on_fs

src/main/fc/settings.yaml

@@ -2111,6 +2111,11 @@ groups:
         default_value: "ALL_NAV"
         field: general.flags.nav_overrides_motor_stop
         table: nav_overrides_motor_stop
+      - name: nav_overrides_motor_stop_on_fs
+        description: "When OFF the motor status will never be overriden during FS. Meaning the motor will not start if FS is triggered while the throttle was low and nav_overrides_motor_stop = OFF"
+        default_value: "ON"
+        field: general.flags.nav_overrides_motor_stop_on_fs
+        type: bool
       - name: nav_rth_climb_first
         description: "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."
         default_value: "ON"

src/main/flight/mixer.c

@@ -586,7 +586,7 @@ motorStatus_e getMotorStatus(void)
     const bool throttleStickLow =
         (calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW);
 
-    if (throttleStickLow && fixedWingOrAirmodeNotActive && !failsafeIsActive()) {
+    if (throttleStickLow && fixedWingOrAirmodeNotActive && !(navConfig()->general.flags.nav_overrides_motor_stop_on_fs && failsafeIsActive())) {
         // If user is holding stick low, we are not in failsafe and either on a plane or on a quad with inactive
         // airmode - we need to check if we are allowing navigation to override MOTOR_STOP
 

src/main/navigation/navigation.c

@@ -91,7 +91,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
 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, 8);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 9);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -107,6 +107,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
             .disarm_on_landing = 0,
             .rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
             .nav_overrides_motor_stop = NOMS_ALL_NAV,
+            .nav_overrides_motor_stop_on_fs = true,
         },
 
         // General navigation parameters

src/main/navigation/navigation.h

@@ -181,7 +181,8 @@ 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 nav_overrides_motor_stop;  // Autonomous modes override motor_stop setting and user command to stop motor
+            uint8_t nav_overrides_motor_stop;   // Autonomous modes override motor_stop setting and user command to stop motor
+            uint8_t nav_overrides_motor_stop_on_fs; // When false the motor status will never be overriden during FS. Meaning the motor will not start if FS is triggered while the throttle was low and nav_overrides_motor_stop = OFF
         } flags;
 
         uint8_t  pos_failure_timeout;           // Time to wait before switching to emergency landing (0 - disable)