Merge pull request #6067 from shellixyz/improvement/make_nav_overrides_motor_stop_tristate

Make nav_overrides_motor_stop tristate: OFF | AUTO_ONLY | ALL_NAV

src/main/fc/settings.yaml

@@ -149,6 +149,9 @@ tables:
     values: ["TYPE1", "TYPE2"]
   - name: off_on
     values: ["OFF", "ON"]
+  - name: nav_overrides_motor_stop
+    enum: navOverridesMotorStop_e
+    values: ["OFF", "AUTO_ONLY", "ALL_NAV"]
 
 groups:
   - name: PG_GYRO_CONFIG
@@ -2101,10 +2104,10 @@ groups:
         min: 0
         max: 5000
       - name: nav_overrides_motor_stop
-        description: "Setting to OFF combined with MOTOR_STOP feature will allow user to stop motor when in autonomous modes. On most places this setting is likely to cause a stall."
-        default_value: "ON"
-        field: general.flags.auto_overrides_motor_stop
-        type: bool
+        description: "When set OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV"
+        default_value: "NOMS_ALL_NAV"
+        field: general.flags.nav_overrides_motor_stop
+        table: nav_overrides_motor_stop
       - name: nav_rth_climb_first
         description: "If set to ON drone will climb to nav_rth_altitude first and head home afterwards. If set to OFF drone will head home instantly and climb on the way."
         default_value: "ON"

src/main/flight/mixer.c

@@ -579,7 +579,9 @@ motorStatus_e getMotorStatus(void)
     }
 
     if (calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW) {
-        if ((STATE(FIXED_WING_LEGACY) || !STATE(AIRMODE_ACTIVE)) && (!(navigationIsFlyingAutonomousMode() && navConfig()->general.flags.auto_overrides_motor_stop)) && (!failsafeIsActive())) {
+        navOverridesMotorStop_e motorStopOverride = navConfig()->general.flags.nav_overrides_motor_stop;
+        if (!failsafeIsActive() && (STATE(FIXED_WING_LEGACY) || !STATE(AIRMODE_ACTIVE)) &&
+            ((motorStopOverride == NOMS_OFF) || ((motorStopOverride == NOMS_ALL_NAV) && !navigationIsControllingThrottle()) || ((motorStopOverride == NOMS_AUTO_ONLY) && !navigationIsFlyingAutonomousMode()))) {
             return MOTOR_STOPPED_USER;
         }
     }

src/main/navigation/navigation.c

@@ -91,7 +91,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
 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 = {
@@ -106,7 +106,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
             .rth_tail_first = 0,
             .disarm_on_landing = 0,
             .rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
-            .auto_overrides_motor_stop = 1,
+            .nav_overrides_motor_stop = NOMS_ALL_NAV,
         },
 
         // General navigation parameters

src/main/navigation/navigation.h

@@ -124,6 +124,12 @@ typedef enum {
     NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR = 4,
 } navArmingBlocker_e;
 
+typedef enum {
+    NOMS_OFF,
+    NOMS_AUTO_ONLY,
+    NOMS_ALL_NAV
+} navOverridesMotorStop_e;
+
 typedef struct positionEstimationConfig_s {
     uint8_t automatic_mag_declination;
     uint8_t reset_altitude_type; // from nav_reset_type_e
@@ -175,7 +181,7 @@ typedef struct navConfig_s {
             uint8_t disarm_on_landing;          //
             uint8_t rth_allow_landing;          // Enable landing as last stage of RTH. Use constants in navRTHAllowLanding_e.
             uint8_t rth_climb_ignore_emerg;     // Option to ignore GPS loss on initial climb stage of RTH
-            uint8_t auto_overrides_motor_stop;  // Autonomous modes override motor_stop setting and user command to stop motor
+            uint8_t nav_overrides_motor_stop;  // Autonomous modes override motor_stop setting and user command to stop motor
         } flags;
 
         uint8_t  pos_failure_timeout;           // Time to wait before switching to emergency landing (0 - disable)