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Add setting nav_overrides_motor_stop_on_fs

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This commit is contained in:
Michel Pastor 2020-12-01 19:02:54 +01:00
parent cb1dd8d039
commit 7dc1f3f9d5
4 changed files with 10 additions and 3 deletions
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5
src/main/fc/settings.yaml
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@ -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"

2
src/main/flight/mixer.c
View file

@ -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

3
src/main/navigation/navigation.c
View file

@ -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

1
src/main/navigation/navigation.h
View file

@ -182,6 +182,7 @@ typedef struct navConfig_s {
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_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)