configurable speed threshold to enter braking mode

src/main/build/debug.h

@@ -59,6 +59,7 @@ typedef enum {
     DEBUG_ALWAYS,
     DEBUG_STAGE2,
     DEBUG_WIND_ESTIMATOR,
+    DEBUG_BRAKING,
     DEBUG_COUNT
 } debugType_e;
 

src/main/fc/settings.yaml

@@ -1243,6 +1243,10 @@ groups:
         field: mc.auto_disarm_delay
         min: 100
         max: 10000
+      - name: nav_mc_braking_speed_threshold
+        field: mc.braking_speed_threshold
+        min: 0
+        max: 1000
 
       - name: nav_fw_cruise_thr
         field: fw.cruise_throttle

src/main/navigation/navigation.c

@@ -116,6 +116,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .max_bank_angle = 30,      // 30 deg
         .hover_throttle = 1500,
         .auto_disarm_delay = 2000,
+        .braking_speed_threshold = 100,
     },
 
     // Fixed wing
@@ -1964,9 +1965,16 @@ static bool adjustPositionFromRCInput(void)
     else {
 
         /*
-         * Process states
+         * Process states only for POSHOLD. In any other case we go back to old routines
          */
-        if (navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE) {
+        if (
+            navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE &&
+            navConfig()->mc.braking_speed_threshold > 0 &&
+            (
+                NAV_Status.state == MW_NAV_STATE_NONE ||
+                NAV_Status.state == MW_NAV_STATE_HOLD_INFINIT
+            )
+        ) {
             const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
             const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
 
@@ -1975,22 +1983,24 @@ static bool adjustPositionFromRCInput(void)
              * Speed is above 1m/s and sticks are centered
              */
             if (!STATE(NAV_CRUISE_BRAKING) && 
-                posControl.actualState.velXY > 100.0f && 
+                posControl.actualState.velXY > navConfig()->mc.braking_speed_threshold && 
                 !rcPitchAdjustment && 
                 !rcRollAdjustment
             ) {
                 ENABLE_STATE(NAV_CRUISE_BRAKING);
+                DEBUG_SET(DEBUG_BRAKING, 0, 1);
             }
 
             /*
              * Case when we were braking but copter finally stopped or we started to move the sticks
              */
             if (STATE(NAV_CRUISE_BRAKING) && (
-                posControl.actualState.velXY <= 100.0f ||
+                posControl.actualState.velXY <= navConfig()->mc.braking_speed_threshold ||
                 rcPitchAdjustment ||
                 rcRollAdjustment
             )) {
                 DISABLE_STATE(NAV_CRUISE_BRAKING);
+                DEBUG_SET(DEBUG_BRAKING, 0, 0);
 
                 /*
                  * When braking is done, store current position as desired one

src/main/navigation/navigation.h

@@ -141,6 +141,7 @@ typedef struct navConfig_s {
         uint8_t  max_bank_angle;             // multicopter max banking angle (deg)
         uint16_t hover_throttle;             // multicopter hover throttle
         uint16_t auto_disarm_delay;          // multicopter safety delay for landing detector
+        uint16_t braking_speed_threshold;    // above this speed braking routine might kick in
     } mc;
 
     struct {