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Nav launch abort improvements #7642
Nav launch abort improvements #7642
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@breadoven it's time to merge this thing. Could you please resolve conflicts? |
@breadoven I was testing this today. And I found a situation where this was a problem.
This could be a big issue if the pilot is in a panic, and about to hit something, and needs more throttle instantly.. The first instinct is to give it full throttle, and forget it has to be between low and launch idle throttle, to get it to override. Whats your take on this? |
Surely this is the way it's always worked. Whatever happens you always have to lower the throttle to rearm regardless of auto launch being enabled. If you move the sticks whilst throttle is still low auto launch will immediately cancel. The only difference this change makes is if you have launch idle throttle set the launch will be cancelled if the throttle is between low and the launch idle setting making it easier to cancel launch because the throttle doesn't need to be fully low. The change isn't intended to help with in flight disarms just the situation where you're using significant launch idle throttle, the launch isn't detected and the pilot forgets to lower the throttle to cancel the launch using the sticks allowing control to be regained. |
If override extra arming safety is active (programming) what happens? That should allow arming with the throttle in any position. That how it currently works (4.1). Though if launch is permanently enabled, it still needs to be exited. |
Thanks for the reply guys. As for this feature, it works well... Although the throttle window margin will vary depending on gap between min_command and launch idle throttle.. Some users set it low (1200uS) and others higher (1650uS). Thanks for your work on this PR @breadoven |
Adds the ability to abort nav launch when the throttle stick is set above the low position but less than the nav launch idle throttle setting. This should help to prevent situations such as #7512.
Shouldn't be a safety issue because the throttle can't jump to a higher setting than the launch idle throttle setting when the launch is aborted.
Change also allows the sticks to be used to abort a switch launch rather than having to use the switch only. Not obvious why this wasn't possible before. If there is a good reason for it then this part of the change can be removed.