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Copter: add new setting for final landing vspeed instead of being hardcoded to 25% of set landing vspeed (#6853)

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* Copter: add new setting for final landing vspeed instead of being hardcoded to 25% of set landing vspeed

* FC_MSP: add land_minalt_vspd to RTH_AND_LAND_CONFIG

* Update CLI docs

* Fix settings description

* Cosmetic fix

* Homogenize landing settings prefix
This commit is contained in:
Michel Pastor 2021-04-19 23:42:46 +02:00 • committed by GitHub
parent 036e86ac10
commit a008a81a38
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 33 additions and 23 deletions
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6
src/main/fc/fc_msp.c
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@ -1334,7 +1334,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, navConfig()->general.flags.rth_alt_control_mode);
sbufWriteU16(dst, navConfig()->general.rth_abort_threshold);
sbufWriteU16(dst, navConfig()->general.rth_altitude);
sbufWriteU16(dst, navConfig()->general.land_descent_rate);
sbufWriteU16(dst, navConfig()->general.land_minalt_vspd);
sbufWriteU16(dst, navConfig()->general.land_maxalt_vspd);
sbufWriteU16(dst, navConfig()->general.land_slowdown_minalt);
sbufWriteU16(dst, navConfig()->general.land_slowdown_maxalt);
sbufWriteU16(dst, navConfig()->general.emerg_descent_rate);
@ -2307,7 +2308,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
navConfigMutable()->general.flags.rth_alt_control_mode = sbufReadU8(src);
navConfigMutable()->general.rth_abort_threshold = sbufReadU16(src);
navConfigMutable()->general.rth_altitude = sbufReadU16(src);
navConfigMutable()->general.land_descent_rate = sbufReadU16(src);
navConfigMutable()->general.land_minalt_vspd = sbufReadU16(src);
navConfigMutable()->general.land_maxalt_vspd = sbufReadU16(src);
navConfigMutable()->general.land_slowdown_minalt = sbufReadU16(src);
navConfigMutable()->general.land_slowdown_maxalt = sbufReadU16(src);
navConfigMutable()->general.emerg_descent_rate = sbufReadU16(src);