FEATURE FW_LAUNCH initial commit

src/main/fc/cli.c

@@ -160,7 +160,8 @@ static const char * const featureNames[] = {
     "", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "",
     "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
-    "SUPEREXPO", "VTX", "RX_SPI", "", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", "OSD", NULL
+    "SUPEREXPO", "VTX", "RX_SPI", "", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", "OSD", "FW_LAUNCH", NULL
+
 };
 
 /* Sensor names (used in lookup tables for *_hardware settings and in status command output) */

src/main/fc/config.h

@@ -73,6 +73,7 @@ typedef enum {
     FEATURE_PWM_SERVO_DRIVER = 1 << 27,
     FEATURE_PWM_OUTPUT_ENABLE = 1 << 28,
     FEATURE_OSD = 1 << 29,
+    FEATURE_FW_LAUNCH = 1 << 30,
 } features_e;
 
 typedef struct systemConfig_s {

src/main/fc/fc_core.c

@@ -188,7 +188,7 @@ static void updateArmingStatus(void)
         }
 
 	/* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */
-	if (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH)) {
+	if (isNavLaunchEnabled()) {
 	  if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) {
 	    ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
 	  } else {

src/main/fc/fc_msp_box.c

@@ -187,7 +187,9 @@ void initActiveBoxIds(void)
 
     if (STATE(FIXED_WING)) {
         activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
+        if (!feature(FEATURE_FW_LAUNCH)) {
            activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
+        }
         activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
 #if defined(AUTOTUNE_FIXED_WING)
         activeBoxIds[activeBoxIdCount++] = BOXAUTOTUNE;

src/main/navigation/navigation.c

@@ -1232,6 +1232,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
         return NAV_FSM_EVENT_SUCCESS;   // NAV_STATE_LAUNCH_MOTOR_DELAY
     }
 
+    //allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle. 
+    if(feature(FEATURE_FW_LAUNCH)){
+        throttleStatus_e throttleStatus = calculateThrottleStatus();
+        if ((throttleStatus == THROTTLE_LOW) && ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband))){ 
+            return NAV_FSM_EVENT_SWITCH_TO_IDLE;
+        }
+    }
+
     return NAV_FSM_EVENT_NONE;
 }
 
@@ -2345,7 +2353,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
 
         // LAUNCH mode has priority over any other NAV mode
         if (STATE(FIXED_WING)) {
-            if (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH)) {     // FIXME: Only available for fixed wing aircrafts now
+            if (isNavLaunchEnabled()) {     // FIXME: Only available for fixed wing aircrafts now
                 if (canActivateLaunchMode) {
                     canActivateLaunchMode = false;
                     return NAV_FSM_EVENT_SWITCH_TO_LAUNCH;
@@ -2404,8 +2412,8 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
     else {
         canActivateWaypoint = false;
 
-        // Launch mode can only be activated if BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
+        // Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
-        canActivateLaunchMode = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH);
+        canActivateLaunchMode = isNavLaunchEnabled();
     }
 
     return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@@ -2470,7 +2478,7 @@ int8_t navigationGetHeadingControlState(void)
 bool navigationBlockArming(void)
 {
     const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD);
-    const bool navLaunchComboModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP));
+    const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP));
     bool shouldBlockArming = false;
 
     if (!navConfig()->general.flags.extra_arming_safety)
@@ -2701,6 +2709,10 @@ bool navigationRTHAllowsLanding(void)
         (allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));
 }
 
+bool isNavLaunchEnabled(void)
+{
+    return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
+}
 #else // NAV
 
 #ifdef USE_GPS

src/main/navigation/navigation.h

@@ -23,6 +23,8 @@
 
 #include "io/gps.h"
 
+#include "config/feature.h"
+
 /* GPS Home location data */
 extern gpsLocation_t        GPS_home;
 extern uint16_t             GPS_distanceToHome;        // distance to home point in meters
@@ -315,6 +317,8 @@ bool navigationIsFlyingAutonomousMode(void);
  */
 bool navigationRTHAllowsLanding(void);
 
+bool isNavLaunchEnabled(void);
+
 /* Compatibility data */
 extern navSystemStatus_t    NAV_Status;