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Merge pull request #2677 from shellixyz/nav_launch_min_time

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NAV_LAUNCH: add min time before leaving
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Konstantin Sharlaimov 2018-02-01 11:57:52 +10:00 • committed by GitHub
commit 9b4a217134
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4 changed files with 7 additions and 1 deletions
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4
src/main/fc/settings.yaml
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@ -1256,6 +1256,10 @@ groups:
field: fw.launch_motor_spinup_time
min: 0
max: 1000
- name: nav_fw_launch_min_time
field: fw.launch_min_time
min: 0
max: 60000
- name: nav_fw_launch_timeout
field: fw.launch_timeout
max: 60000

1
src/main/navigation/navigation.c
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@ -139,6 +139,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.launch_idle_throttle = 1000, // Motor idle or MOTOR_STOP
.launch_motor_timer = 500, // ms
.launch_motor_spinup_time = 100, // ms, time to gredually increase throttle from idle to launch
.launch_min_time = 0, // ms, min time in launch mode
.launch_timeout = 5000, // ms, timeout for launch procedure
.launch_climb_angle = 18, // 18 degrees
.launch_max_angle = 45 // 45 deg

1
src/main/navigation/navigation.h
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@ -155,6 +155,7 @@ typedef struct navConfig_s {
uint16_t launch_throttle; // Launch throttle
uint16_t launch_motor_timer; // Time to wait before setting launch_throttle (ms)
uint16_t launch_motor_spinup_time; // Time to speed-up motors from idle to launch_throttle (ESC desync prevention)
uint16_t launch_min_time; // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early
uint16_t launch_timeout; // Launch timeout to disable launch mode and swith to normal flight (ms)
uint8_t launch_climb_angle; // Target climb angle for launch (deg)
uint8_t launch_max_angle; // Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]

2
src/main/navigation/navigation_fw_launch.c
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@ -149,7 +149,7 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs - launchState.launchStartedTime);
// If user moves the stick - finish the launch
if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) {
if ((timeElapsedSinceLaunchMs > navConfig()->fw.launch_min_time) && ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband))) {
launchState.launchFinished = true;
}