Merge pull request #5988 from dragnea/dragnea_autolaunch_refactor

Autolaunch - Added a smooth end launch feature and code refactor

Author: digitalentity

docs/Cli.md

@@ -145,5 +145,4 @@ For targets that have a flash data chip, typically used for blackbox logs, the f
 | `flash_write <address> <data>` | Writes `data` to `address` |
 
 ## CLI Variable Reference
-
 See [Settings.md](Settings.md).

docs/Settings.md

@@ -264,6 +264,7 @@
 | nav_fw_launch_min_time | 0 | Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. |
 | nav_fw_launch_motor_delay | 500 | Delay between detected launch and launch sequence start and throttling up (ms) |
 | nav_fw_launch_spinup_time | 100 | Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller |
+| nav_fw_launch_end_time | 3000 | Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms] |
 | nav_fw_launch_thr | 1700 | Launch throttle - throttle to be set during launch sequence (pwm units) |
 | nav_fw_launch_timeout | 5000 | Maximum time for launch sequence to be executed. After this time LAUNCH mode will be turned off and regular flight mode will take over (ms) |
 | nav_fw_launch_velocity | 300 | Forward velocity threshold for swing-launch detection [cm/s] |

src/main/cms/cms_menu_navigation.c

@@ -132,6 +132,7 @@ static const OSD_Entry cmsx_menuFWLaunchEntries[] =
     OSD_SETTING_ENTRY("IDLE THROTTLE", SETTING_NAV_FW_LAUNCH_IDLE_THR),
     OSD_SETTING_ENTRY("MOTOR SPINUP TIME", SETTING_NAV_FW_LAUNCH_SPINUP_TIME),
     OSD_SETTING_ENTRY("TIMEOUT", SETTING_NAV_FW_LAUNCH_TIMEOUT),
+    OSD_SETTING_ENTRY("END TRANSITION TIME", SETTING_NAV_FW_LAUNCH_END_TIME),
     OSD_SETTING_ENTRY("MAX ALTITUDE", SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE),
     OSD_SETTING_ENTRY("CLIMB ANGLE", SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE),
     OSD_SETTING_ENTRY("MAX BANK ANGLE", SETTING_NAV_FW_LAUNCH_MAX_ANGLE),

src/main/fc/settings.yaml

@@ -2359,6 +2359,12 @@ groups:
         field: fw.launch_motor_spinup_time
         min: 0
         max: 1000
+      - name: nav_fw_launch_end_time
+        description: "Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]"
+        default_value: "2000"
+        field: fw.launch_end_time
+        min: 0
+        max: 5000
       - name: nav_fw_launch_min_time
         description: "Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]."
         default_value: "0"

src/main/io/osd.c

@@ -3328,6 +3328,10 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     }
                 } else if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);
+                        const char *launchStateMessage = fixedWingLaunchStateMessage();
+                        if (launchStateMessage) {
+                            messages[messageCount++] = launchStateMessage;
+                        }
                 } else {
                     if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) {
                         // ALTHOLD might be enabled alongside ANGLE/HORIZON/ACRO

src/main/navigation/navigation.c

@@ -169,6 +169,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .launch_idle_throttle = 1000,           // Motor idle or MOTOR_STOP
         .launch_motor_timer = 500,              // ms
         .launch_motor_spinup_time = 100,        // ms, time to gredually increase throttle from idle to launch
+        .launch_end_time = 3000,                // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
         .launch_min_time = 0,                   // ms, min time in launch mode
         .launch_timeout = 5000,                 // ms, timeout for launch procedure
         .launch_max_altitude = 0,               // cm, altitude where to consider launch ended

src/main/navigation/navigation.h

@@ -237,7 +237,8 @@ typedef struct navConfig_s {
         uint16_t launch_throttle;            // Launch throttle
         uint16_t launch_motor_timer;         // Time to wait before setting launch_throttle (ms)
         uint16_t launch_motor_spinup_time;   // Time to speed-up motors from idle to launch_throttle (ESC desync prevention)
-        uint16_t launch_min_time;	     // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early
+        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
         uint16_t launch_timeout;             // Launch timeout to disable launch mode and swith to normal flight (ms)
         uint16_t launch_max_altitude;        // cm, altitude where to consider launch ended
         uint8_t  launch_climb_angle;         // Target climb angle for launch (deg)
@@ -522,6 +523,7 @@ bool navigationRTHAllowsLanding(void);
 bool isNavLaunchEnabled(void);
 bool isFixedWingLaunchDetected(void);
 bool isFixedWingLaunchFinishedOrAborted(void);
+const char * fixedWingLaunchStateMessage(void);
 
 float calculateAverageSpeed(void);