Add deadband

src/main/fc/settings.yaml

@@ -1667,6 +1667,10 @@ groups:
       - name: nav_use_fw_yaw_control
         field: fw.useFwNavYawControl
         type: bool
+      - name: nav_fw_yaw_deadband
+        field: fw.yawControlDeadband
+        min: 0
+        max: 90
 
   - name: PG_TELEMETRY_CONFIG
     type: telemetryConfig_t

src/main/navigation/navigation.c

@@ -167,6 +167,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .cruise_yaw_rate  = 20,                 // 20dps
         .allow_manual_thr_increase = false,
         .useFwNavYawControl = 0,
+        .yawControlDeadband = 0,
     }
 );
 
@@ -3212,10 +3213,10 @@ void navigationUsePIDs(void)
                                         0.0f,
                                         NAV_DTERM_CUT_HZ
     );
-
+    
     navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 10.0f,
                                         (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 10.0f,
-                                        (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 10.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 100.0f,
                                         0.0f,
                                         2.0f
     );

src/main/navigation/navigation.h

@@ -217,6 +217,7 @@ typedef struct navConfig_s {
         uint8_t  cruise_yaw_rate;            // Max yaw rate (dps) when CRUISE MODE is enabled
         bool     allow_manual_thr_increase;
         bool useFwNavYawControl;
+        uint8_t yawControlDeadband;
     } fw;
 } navConfig_t;
 

src/main/navigation/navigation_fixedwing.c

@@ -359,7 +359,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
         float yawAdjustment = navPidApply2(
             &posControl.pids.fw_heading, 
             0, 
-            navHeadingError, 
+            applyDeadband(navHeadingError, navConfig()->fw.yawControlDeadband * 100), 
             US2S(deltaMicros),
             -limit,
             limit,