Initial build

docs/Settings.md

@@ -306,6 +306,7 @@
 | nav_fw_launch_climb_angle | 18 | 5 | 45 | Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit |
 | nav_fw_launch_detect_time | 40 | 10 | 1000 | Time for which thresholds have to breached to consider launch happened [ms] |
 | nav_fw_launch_end_time | 3000 | 0 | 5000 | Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms] |
+| nav_fw_launch_idle_motor_delay | 0 | 0 | 20000 | Delay between raising throttle and motor starting at idle throttle (ms) |
 | nav_fw_launch_idle_thr | 1000 | 1000 | 2000 | Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position) |
 | nav_fw_launch_max_altitude | 0 | 0 | 60000 | Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. |
 | nav_fw_launch_max_angle | 45 | 5 | 180 | Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg] |

src/main/fc/settings.yaml

@@ -2670,6 +2670,12 @@ groups:
         field: fw.launch_idle_throttle
         min: 1000
         max: 2000
+      - name: nav_fw_launch_idle_motor_delay
+        description: "Delay between raising throttle and motor starting at idle throttle (ms)"
+        default_value: 0
+        field: fw.launch_idle_motor_timer
+        min: 0
+        max: 20000
       - name: nav_fw_launch_motor_delay
         description: "Delay between detected launch and launch sequence start and throttling up (ms)"
         default_value: 500

src/main/navigation/navigation.c

@@ -185,6 +185,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .launch_throttle = SETTING_NAV_FW_LAUNCH_THR_DEFAULT,
         .launch_idle_throttle = SETTING_NAV_FW_LAUNCH_IDLE_THR_DEFAULT,         // Motor idle or MOTOR_STOP
         .launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT,        // ms
+        .launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT,   // ms
         .launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT,  // ms, time to gredually increase throttle from idle to launch
         .launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT,              // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
         .launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT,              // ms, min time in launch mode

src/main/navigation/navigation.h

@@ -263,6 +263,7 @@ typedef struct navConfig_s {
         uint16_t launch_idle_throttle;       // Throttle to keep at launch idle
         uint16_t launch_throttle;            // Launch throttle
         uint16_t launch_motor_timer;         // Time to wait before setting launch_throttle (ms)
+        uint16_t launch_idle_motor_timer;    // Time to wait before motor starts at_idle throttle (ms)
         uint16_t launch_motor_spinup_time;   // Time to speed-up motors from idle to launch_throttle (ESC desync prevention)
         uint16_t launch_end_time;            // Time to make the transition from launch angle to leveled and throttle transition from launch throttle to the stick position
         uint16_t launch_min_time;	           // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early

src/main/navigation/navigation_fw_launch.c

@@ -54,6 +54,7 @@
 #define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500                              // ms
 #define UNUSED(x) ((void)(x))
 #define FW_LAUNCH_MESSAGE_TEXT_WAIT_THROTTLE "RAISE THE THROTTLE"
+#define FW_LAUNCH_MESSAGE_TEXT_WAIT_IDLE "WAITING FOR IDLE"
 #define FW_LAUNCH_MESSAGE_TEXT_WAIT_DETECTION "READY"
 #define FW_LAUNCH_MESSAGE_TEXT_IN_PROGRESS "MOVE THE STICKS TO ABORT"
 #define FW_LAUNCH_MESSAGE_TEXT_FINISHING "FINISHING"
@@ -61,6 +62,7 @@
 typedef enum {
     FW_LAUNCH_MESSAGE_TYPE_NONE = 0,
     FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE,
+    FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE,
     FW_LAUNCH_MESSAGE_TYPE_WAIT_DETECTION,
     FW_LAUNCH_MESSAGE_TYPE_IN_PROGRESS,
     FW_LAUNCH_MESSAGE_TYPE_FINISHING
@@ -78,6 +80,7 @@ typedef enum {
 typedef enum {
     FW_LAUNCH_STATE_IDLE = 0,
     FW_LAUNCH_STATE_WAIT_THROTTLE,
+    FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
     FW_LAUNCH_STATE_MOTOR_IDLE,
     FW_LAUNCH_STATE_WAIT_DETECTION,
     FW_LAUNCH_STATE_DETECTED,
@@ -90,6 +93,7 @@ typedef enum {
 
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE(timeUs_t currentTimeUs);
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs_t currentTimeUs);
+static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs);
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs);
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs);
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_DETECTED(timeUs_t currentTimeUs);
@@ -125,19 +129,28 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE
     [FW_LAUNCH_STATE_WAIT_THROTTLE] = {
         .onEntry                                    = fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE,
         .onEvent = {
-            [FW_LAUNCH_EVENT_SUCCESS]               = FW_LAUNCH_STATE_MOTOR_IDLE,
+            [FW_LAUNCH_EVENT_SUCCESS]               = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
             [FW_LAUNCH_EVENT_GOTO_DETECTION]        = FW_LAUNCH_STATE_WAIT_DETECTION
         },
         .messageType                                = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE
     },
 
+    [FW_LAUNCH_STATE_IDLE_MOTOR_DELAY] = {
+        .onEntry                                    = fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
+        .onEvent = {
+            [FW_LAUNCH_EVENT_SUCCESS]               = FW_LAUNCH_STATE_MOTOR_IDLE,
+            [FW_LAUNCH_EVENT_THROTTLE_LOW]          = FW_LAUNCH_STATE_WAIT_THROTTLE
+        },
+        .messageType                                = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE
+    },
+
     [FW_LAUNCH_STATE_MOTOR_IDLE] = {
         .onEntry                                    = fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE,
         .onEvent = {
             [FW_LAUNCH_EVENT_SUCCESS]               = FW_LAUNCH_STATE_WAIT_DETECTION,
             [FW_LAUNCH_EVENT_THROTTLE_LOW]          = FW_LAUNCH_STATE_WAIT_THROTTLE
         },
-        .messageType                                = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE
+        .messageType                                = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE
     },
 
     [FW_LAUNCH_STATE_WAIT_DETECTION] = {
@@ -287,6 +300,21 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
     return FW_LAUNCH_EVENT_NONE;
 }
 
+static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs)
+{
+    if (isThrottleLow()) {
+        return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
+    }
+
+    applyThrottleIdleLogic(true);
+
+    if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) {
+        return FW_LAUNCH_EVENT_SUCCESS;
+    }
+
+    return FW_LAUNCH_EVENT_NONE;
+}
+
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs)
 {
     if (isThrottleLow()) {
@@ -476,6 +504,9 @@ const char * fixedWingLaunchStateMessage(void)
         case FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE:
             return FW_LAUNCH_MESSAGE_TEXT_WAIT_THROTTLE;
 
+        case FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE:
+            return FW_LAUNCH_MESSAGE_TEXT_WAIT_IDLE;
+
         case FW_LAUNCH_MESSAGE_TYPE_WAIT_DETECTION:
             return FW_LAUNCH_MESSAGE_TEXT_WAIT_DETECTION;