New setting for disabling motor_stop in NAV modes

iNavFlight · Jun 30, 2018 · 1354cce · 1354cce
1 parent bea730c
commit 1354cce
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Showing 5 changed files with 13 additions and 3 deletions.
diff --git a/docs/Cli.md b/docs/Cli.md
@@ -163,6 +163,7 @@ Re-apply any new defaults as desired.
 | nav_land_slowdown_maxalt | 2000 | Defines at what altitude the descent velocity should start to ramp down from 100% nav_landing_speed to 25% nav_landing_speed. [cm] |
 | nav_emerg_landing_speed | 500 | Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s] |
 | nav_min_rth_distance | 500 | Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase. |
+| nav_overrides_motor_stop | ON | 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. |
 | nav_rth_climb_first | ON | 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. |
 | nav_rth_tail_first | OFF | If set to ON drone will return tail-first. Obviously meaningless for airplanes. |
 | nav_rth_allow_landing | ALWAYS | If set to ON drone will land as a last phase of RTH. |

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -1257,6 +1257,9 @@ groups:
  field: general.min_rth_distance
  min: 0
  max: 5000
+ - name: nav_overrides_motor_stop
+ field: general.flags.auto_overrides_motor_stop
+ type: bool
  - name: nav_rth_climb_first
  field: general.flags.rth_climb_first
  type: bool

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -371,11 +371,15 @@ void mixTable(const float dT)
 
 motorStatus_e getMotorStatus(void)
 {
- if (failsafeRequiresMotorStop() || (!failsafeIsActive() && STATE(NAV_MOTOR_STOP_OR_IDLE)))
+ if (failsafeRequiresMotorStop() || (!failsafeIsActive() && STATE(NAV_MOTOR_STOP_OR_IDLE))) {
  return MOTOR_STOPPED_AUTO;
+ }
 
- if ((STATE(FIXED_WING) || !isAirmodeActive()) && (!navigationIsFlyingAutonomousMode()) && (!failsafeIsActive()) && (rcData[THROTTLE] < rxConfig()->mincheck))
- return MOTOR_STOPPED_USER;
+ if (rcData[THROTTLE] < rxConfig()->mincheck) {
+ if ((STATE(FIXED_WING) || !isAirmodeActive()) && (!(navigationIsFlyingAutonomousMode() && navConfig()->general.flags.auto_overrides_motor_stop)) && (!failsafeIsActive())) {
+ return MOTOR_STOPPED_USER;
+ }
+ }
 
  return MOTOR_RUNNING;
 }
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -92,6 +92,7 @@ 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,
  },
 
  // General navigation parameters

diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
@@ -126,6 +126,7 @@ 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
  } flags;
 
  uint8_t pos_failure_timeout; // Time to wait before switching to emergency landing (0 - disable)