configurable braking bank angle

src/main/fc/settings.yaml

@@ -1270,6 +1270,10 @@ groups:
         field: mc.braking_boost_disengage_speed
         min: 0
         max: 1000
+      - name: nav_mc_braking_bank_angle
+        field: mc.braking_bank_angle
+        min: 15
+        max: 60  
       - name: nav_fw_cruise_thr
         field: fw.cruise_throttle
         min: 1000

src/main/navigation/navigation.c

@@ -123,6 +123,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .braking_boost_timeout = 750,           // Timout boost after 750ms
         .braking_boost_speed_threshold = 150,   // Boost can happen only above 1.5m/s
         .braking_boost_disengage_speed = 100,   // Disable boost at 1m/s
+        .braking_bank_angle = 40,               // Max braking angle     
     },
 
     // Fixed wing

src/main/navigation/navigation.h

@@ -148,6 +148,7 @@ typedef struct navConfig_s {
         uint16_t braking_boost_timeout;         // Timeout for boost mode
         uint16_t braking_boost_speed_threshold; // Above this speed braking boost mode can engage
         uint16_t braking_boost_disengage_speed; // Below this speed braking boost will disengage
+        uint8_t  braking_bank_angle;            // Max angle [deg] that MR is allowed duing braking boost phase
     } mc;
 
     struct {

src/main/navigation/navigation_multicopter.c

@@ -426,10 +426,7 @@ static void updatePositionAccelController_MC(timeDelta_t deltaMicros, float maxA
         newAccelX = newAccelX * boostFactor;
         newAccelY = newAccelY * boostFactor;
 
-        //do a small, static, boost to max banking angle.
+        maxBankAngle = DEGREES_TO_DECIDEGREES(navConfig()->mc.braking_bank_angle);
-        //This routine is very short, MR should be able to keep altitude
-        maxBankAngle = maxBankAngle * 120 / 100;
-
         accCutoffFrequency = NAV_ACCEL_CUTOFF_FREQUENCY_HZ * 2;
     }