Renamed variable and added new setting nav_fw_pitch2thr_threshold

src/main/cms/cms_menu_navigation.c

@@ -109,6 +109,7 @@ static const OSD_Entry cmsx_menuFixedWingEntries[] =
     OSD_SETTING_ENTRY("PITCH TO THR RATIO", SETTING_NAV_FW_PITCH2THR),
     OSD_SETTING_ENTRY("LOITER RADIUS", SETTING_NAV_FW_LOITER_RADIUS),
     OSD_SETTING_ENTRY("CONTROL SMOOTHNESS", SETTING_NAV_FW_CONTROL_SMOOTHNESS),
+    OSD_SETTING_ENTRY("PITCH TO THR THRESHOLD", SETTING_NAV_FW_PITCH2THR_THRESHOLD),
 
     OSD_BACK_AND_END_ENTRY,
 };

src/main/fc/settings.yaml

@@ -2260,6 +2260,12 @@ groups:
         field: fw.pitch_to_throttle
         min: 0
         max: 100
+      - name: nav_fw_pitch2thr_threshold
+        description: "Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]"
+        default_value: "0"
+        field: fw.pitch_to_throttle_thresh
+        min: 0
+        max: 100
       - name: nav_fw_loiter_radius
         description: "PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]"
         default_value: "5000"

src/main/navigation/navigation.c

@@ -87,7 +87,7 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
 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, 7);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 8);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -152,6 +152,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .max_throttle = 1700,
         .min_throttle = 1200,
         .pitch_to_throttle = 10,                // pwm units per degree of pitch (10pwm units ~ 1% throttle)
+        .pitch_to_throttle_thresh = 0,          // Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]
         .loiter_radius = 5000,                  // 50m
 
         //Fixed wing landing

src/main/navigation/navigation.h

@@ -222,6 +222,7 @@ typedef struct navConfig_s {
         uint16_t min_throttle;               // Minimum allowed throttle in auto mode
         uint16_t max_throttle;               // Maximum allowed throttle in auto mode
         uint8_t  pitch_to_throttle;          // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10)
+        uint8_t  pitch_to_throttle_thresh;   // Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]
         uint16_t loiter_radius;              // Loiter radius when executing PH on a fixed wing
         int8_t land_dive_angle;
         uint16_t launch_velocity_thresh;     // Velocity threshold for swing launch detection

src/main/navigation/navigation_fixedwing.c

@@ -463,18 +463,16 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
 
 int16_t fixedWingPitchToThrottleCorrection(int16_t pitch)
 {
-    const int16_t pitch_to_throttle_deadband = 30;
+    if (pitch > navConfig()->fw.pitch_to_throttle_thresh) {
-
+        // Positive pitch above threshold
-    if (pitch > pitch_to_throttle_deadband) {
+        return DECIDEGREES_TO_DEGREES(pitch - navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
-        // Above positive pitch deadband
-        return DECIDEGREES_TO_DEGREES(pitch - pitch_to_throttle_deadband) * navConfig()->fw.pitch_to_throttle;
     }
-    else if (pitch < -pitch_to_throttle_deadband) {
+    else if (pitch < -navConfig()->fw.pitch_to_throttle_thresh) {
-        // Below negative pitch deadband
+        // Negative pitch below threshold
-        return DECIDEGREES_TO_DEGREES(pitch + pitch_to_throttle_deadband) * navConfig()->fw.pitch_to_throttle;
+        return DECIDEGREES_TO_DEGREES(pitch + navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
     }
     else {
-        // Inside deadband
+        // Inside pitch_to_throttle_thresh deadband. Make no throttle correction.
         return 0;
     }
 }