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Fixed wing launch refactor. Add a smooth transition to the current flight mode at the end of the launch.

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Use nav_fw_launch_end_time to change the transition time, default = 2000ms
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DESKTOP-N53JVUO\mix 2020-07-16 09:18:49 +03:00
parent 098a574b31
commit bab965da77
4 changed files with 209 additions and 126 deletions
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src/main/navigation/navigation.c
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@ -160,6 +160,7 @@ 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_end_time = 2000, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = 0, // ms, min time in launch mode
.launch_timeout = 5000, // ms, timeout for launch procedure
.launch_max_altitude = 0, // cm, altitude where to consider launch ended