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Fixed wing cruise throttle in-flight adjustment via another channel position #11

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Fixed wing cruise throttle in-flight adjustment via another channel position #11

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d0519d3
- Change NAV_FW_CRUISE_THR adjustment handling logic
rmaia3d Jun 26, 2024
b80b6d9
- Move adjustment code to a dedicated function and constrain adjusted…
rmaia3d Jun 27, 2024
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22 changes: 21 additions & 1 deletion src/main/fc/rc_adjustments.c
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Original file line number Diff line number Diff line change
Expand Up @@ -619,6 +619,23 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
};
}

static void adjustFwCruiseThrFromChPosition(uint8_t ch_index)
{
static uint16_t default_fw_cruise_thr = 0U; // Initialize to zero
const uint32_t now = millis();
if (default_fw_cruise_thr == 0U && now > 1000U) {
// Wait at least 1 second before updating the value to avoid any initialization errors
default_fw_cruise_thr = currentBatteryProfileMutable->nav.fw.cruise_throttle;
}

// Get adjustment value directly from adjustment channel distance from mid-point
int16_t adj_value = rxGetChannelValue(ch_index) - PWM_RANGE_MIDDLE;
int16_t new_value = default_fw_cruise_thr + adj_value;
new_value = constrain(new_value, currentBatteryProfileMutable->nav.fw.min_throttle, currentBatteryProfileMutable->nav.fw.max_throttle);
currentBatteryProfileMutable->nav.fw.cruise_throttle = new_value;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_NAV_FW_CRUISE_THR, new_value);
}

#ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
Expand Down Expand Up @@ -671,7 +688,10 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, bool canUseRxD

const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;

if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
if (adjustmentFunction == ADJUSTMENT_NAV_FW_CRUISE_THR) {
// Different adjustment handling for ADJUSTMENT_NAV_FW_CRUISE_THR
adjustFwCruiseThrFromChPosition(channelIndex);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rxGetChannelValue(channelIndex) > PWM_RANGE_MIDDLE + 200) {
delta = adjustmentState->config->data.stepConfig.step;
Expand Down