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[Multirotor Only] Separate the bank angle parameter from autonomous navigation in Roll and Pitch #2076

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[Multirotor Only] Separate the bank angle parameter from autonomous navigation in Roll and Pitch #2076

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5 changes: 3 additions & 2 deletions js/fc.js
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Original file line number Diff line number Diff line change
Expand Up @@ -406,7 +406,8 @@ var FC = {
maxClimbRate: null,
maxManualSpeed: null,
maxManualClimbRate: null,
maxBankAngle: null,
maxBankAngleRoll: null,
maxBankAnglePitch: null,
useThrottleMidForAlthold: null,
hoverThrottle: null
};
Expand Down Expand Up @@ -1574,4 +1575,4 @@ var FC = {
}
};

module.exports = FC;
module.exports = FC;
10 changes: 6 additions & 4 deletions js/msp/MSPHelper.js
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Original file line number Diff line number Diff line change
Expand Up @@ -1235,9 +1235,10 @@ var mspHelper = (function () {
FC.NAV_POSHOLD.maxClimbRate = data.getUint16(3, true);
FC.NAV_POSHOLD.maxManualSpeed = data.getUint16(5, true);
FC.NAV_POSHOLD.maxManualClimbRate = data.getUint16(7, true);
FC.NAV_POSHOLD.maxBankAngle = data.getUint8(9);
FC.NAV_POSHOLD.useThrottleMidForAlthold = data.getUint8(10);
FC.NAV_POSHOLD.hoverThrottle = data.getUint16(11, true);
NAV_POSHOLD.maxBankAngleRoll = data.getUint8(9);
NAV_POSHOLD.maxBankAnglePitch = data.getUint8(10);
NAV_POSHOLD.useThrottleMidForAlthold = data.getUint8(11);
NAV_POSHOLD.hoverThrottle = data.getUint16(12, true);
break;

case MSPCodes.MSP_SET_NAV_POSHOLD:
Expand Down Expand Up @@ -1944,7 +1945,8 @@ var mspHelper = (function () {
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxManualClimbRate));
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxManualClimbRate));

buffer.push(FC.NAV_POSHOLD.maxBankAngle);
buffer.push(FC.NAV_POSHOLD.maxBankAngleRoll);
buffer.push(FC.NAV_POSHOLD.maxBankAnglePitch);
buffer.push(FC.NAV_POSHOLD.useThrottleMidForAlthold);

buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.hoverThrottle));
Expand Down
12 changes: 9 additions & 3 deletions locale/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3019,12 +3019,18 @@
"posholdMaxManualClimbRate": {
"message": "Max. ALTHOLD climb rate [cm/s]"
},
"posholdMaxBankAngle": {
"message": "Multirotor max. banking angle"
"posholdMaxRollBankAngle": {
"message": "Multirotor max. roll banking angle"
},
"posholdMaxBankAngleHelp": {
"posholdMaxPitchBankAngle": {
"message": "Multirotor max. pitch banking angle"
},
"posholdMaxBankAngleRollHelp": {
"message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab."
},
"posholdMaxBankAnglePitchHelp": {
"message": "Maximum banking angle in navigation modes. Constrained by maximum PITCH angle in PID tuning tab."
},
"posholdHoverThrottle": {
"message": "Hover throttle"
},
Expand Down
12 changes: 9 additions & 3 deletions tabs/advanced_tuning.html
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Original file line number Diff line number Diff line change
Expand Up @@ -296,9 +296,14 @@
<div for="navManualClimbRate" class="helpicon cf_tip" data-i18n_title="navManualClimbRateHelp"></div>
</div>
<div class="number">
<input id="max-bank-angle" type="number" data-unit="deg" data-setting="nav_mc_bank_angle" data-setting-multiplier="1" step="1" min="15" max="45" />
<label for="max-bank-angle"><span data-i18n="posholdMaxBankAngle"></span></label>
<div for="max-bank-angle" class="helpicon cf_tip" data-i18n_title="posholdMaxBankAngleHelp"></div>
<input id="max-bank-angle" type="number" data-unit="deg" data-setting="nav_mc_bank_angle_roll" data-setting-multiplier="1" step="1" min="15" max="45" />
<label for="max-bank-angle"><span data-i18n="posholdMaxRollBankAngle"></span></label>
<div for="max-bank-angle" class="helpicon cf_tip" data-i18n_title="posholdMaxBankAngleRollHelp"></div>
</div>
<div class="number">
<input id="max-bank-angle" type="number" data-unit="deg" data-setting="nav_mc_bank_angle_pitch" data-setting-multiplier="1" step="1" min="15" max="45" />
<label for="max-bank-angle"><span data-i18n="posholdMaxPitchBankAngle"></span></label>
<div for="max-bank-angle" class="helpicon cf_tip" data-i18n_title="posholdMaxBankAnglePitchHelp"></div>
</div>

<div class="select">
Expand Down Expand Up @@ -644,3 +649,4 @@
</div>
</div>
</div>

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