separate the nav climb rate settings for fw and mc

src/main/cms/cms_menu_navigation.c

@@ -45,8 +45,9 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
     OSD_SETTING_ENTRY("MC NAV SPEED", SETTING_NAV_AUTO_SPEED),
     OSD_SETTING_ENTRY("MC MAX NAV SPEED", SETTING_NAV_MAX_AUTO_SPEED),
     OSD_SETTING_ENTRY("MAX CRUISE SPEED", SETTING_NAV_MANUAL_SPEED),
-    OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_AUTO_CLIMB_RATE),
-    OSD_SETTING_ENTRY("MAX AH CLIMB RATE", SETTING_NAV_MANUAL_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_MC_AUTO_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX MC AH CLIMB RATE", SETTING_NAV_MC_MANUAL_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX FW AH CLIMB RATE", SETTING_NAV_FW_MANUAL_CLIMB_RATE),
     OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
     OSD_SETTING_ENTRY("MC ALTHOLD THROT", SETTING_NAV_MC_ALTHOLD_THROTTLE),
     OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),

src/main/fc/fc_msp.c

@@ -1310,9 +1310,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     case MSP_NAV_POSHOLD:
         sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
         sbufWriteU16(dst, navConfig()->general.max_auto_speed);
-        sbufWriteU16(dst, navConfig()->general.max_auto_climb_rate);
+        sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate);
         sbufWriteU16(dst, navConfig()->general.max_manual_speed);
-        sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
+        sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate);
         sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
         sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
         sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
@@ -2321,9 +2321,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         if (dataSize == 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
-            navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
+            navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
-            navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
+            if (mixerConfig()->platformType != PLATFORM_AIRPLANE) {
+                navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
+            }else{
+                navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src);
+            }
             navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
             navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
             currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);

src/main/fc/settings.yaml

@@ -2489,24 +2489,12 @@ groups:
         field: general.max_auto_speed
         min: 10
         max: 2000
-      - name: nav_auto_climb_rate
-        description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
-        default_value: 500
-        field: general.max_auto_climb_rate
-        min: 10
-        max: 2000
       - name: nav_manual_speed
         description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
         default_value: 500
         field: general.max_manual_speed
         min: 10
         max: 2000
-      - name: nav_manual_climb_rate
-        description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
-        default_value: 200
-        field: general.max_manual_climb_rate
-        min: 10
-        max: 2000
       - name: nav_land_minalt_vspd
         description: "Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]"
         default_value: 50
@@ -2677,6 +2665,18 @@ groups:
         field: mc.max_bank_angle
         min: 15
         max: 45
+      - name: nav_mc_auto_climb_rate
+        description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
+        default_value: 500
+        field: mc.max_auto_climb_rate
+        min: 10
+        max: 2000
+      - name: nav_mc_manual_climb_rate
+        description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
+        default_value: 200
+        field: mc.max_manual_climb_rate
+        min: 10
+        max: 2000
       - name: nav_auto_disarm_delay
         description: "Delay before craft disarms when `nav_disarm_on_landing` is set (ms)"
         default_value: 1000
@@ -2762,6 +2762,12 @@ groups:
         field: fw.max_bank_angle
         min: 5
         max: 80
+      - name: nav_fw_manual_climb_rate
+        description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
+        default_value: 300
+        field: fw.max_manual_climb_rate
+        min: 10
+        max: 2500
       - name: nav_fw_climb_angle
         description: "Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
         default_value: 20

src/main/navigation/navigation.c

@@ -133,9 +133,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT,                           // load waypoints automatically during boot
         .auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT,                                           // speed in autonomous modes (3 m/s = 10.8 km/h)
         .max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT,                                   // max allowed speed autonomous modes
-        .max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT,                             // 5 m/s
         .max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
-        .max_manual_climb_rate = SETTING_NAV_MANUAL_CLIMB_RATE_DEFAULT,
         .land_slowdown_minalt = SETTING_NAV_LAND_SLOWDOWN_MINALT_DEFAULT,                       // altitude in centimeters
         .land_slowdown_maxalt = SETTING_NAV_LAND_SLOWDOWN_MAXALT_DEFAULT,                       // altitude in meters
         .land_minalt_vspd = SETTING_NAV_LAND_MINALT_VSPD_DEFAULT,                               // centimeters/s
@@ -160,6 +158,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
     // MC-specific
     .mc = {
         .max_bank_angle = SETTING_NAV_MC_BANK_ANGLE_DEFAULT,                          // degrees
+        .max_auto_climb_rate = SETTING_NAV_MC_AUTO_CLIMB_RATE_DEFAULT,                             // 5 m/s
+        .max_manual_climb_rate = SETTING_NAV_MC_MANUAL_CLIMB_RATE_DEFAULT,
 
 #ifdef USE_MR_BRAKING_MODE
         .braking_speed_threshold = SETTING_NAV_MC_BRAKING_SPEED_THRESHOLD_DEFAULT,               // Braking can become active above 1m/s
@@ -181,6 +181,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
     // Fixed wing
     .fw = {
         .max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT,                    // degrees
+        .max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT,      // 3 m/s
         .max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT,                  // degrees
         .max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT,                    // degrees
         .cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT,                    // cm/s

src/main/navigation/navigation.h

@@ -246,9 +246,7 @@ typedef struct navConfig_s {
         bool     waypoint_load_on_boot;             // load waypoints automatically during boot
         uint16_t auto_speed;                        // autonomous navigation speed cm/sec
         uint16_t max_auto_speed;                    // maximum allowed autonomous navigation speed cm/sec
-        uint16_t max_auto_climb_rate;               // max vertical speed limitation cm/sec
         uint16_t max_manual_speed;                  // manual velocity control max horizontal speed
-        uint16_t max_manual_climb_rate;             // manual velocity control max vertical speed
         uint16_t land_minalt_vspd;                  // Final RTH landing descent rate under minalt
         uint16_t land_maxalt_vspd;                  // RTH landing descent rate target at maxalt
         uint16_t land_slowdown_minalt;              // Altitude to stop lowering descent rate during RTH descend
@@ -272,6 +270,8 @@ typedef struct navConfig_s {
 
     struct {
         uint8_t  max_bank_angle;                // multicopter max banking angle (deg)
+        uint16_t max_auto_climb_rate;           // max vertical speed limitation cm/sec
+        uint16_t max_manual_climb_rate;         // manual velocity control max vertical speed
 
 #ifdef USE_MR_BRAKING_MODE
         uint16_t braking_speed_threshold;       // above this speed braking routine might kick in
@@ -292,6 +292,7 @@ typedef struct navConfig_s {
 
     struct {
         uint8_t  max_bank_angle;             // Fixed wing max banking angle (deg)
+        uint16_t max_manual_climb_rate;      // manual velocity control max vertical speed
         uint8_t  max_climb_angle;            // Fixed wing max banking angle (deg)
         uint8_t  max_dive_angle;             // Fixed wing max banking angle (deg)
         uint16_t cruise_speed;               // Speed at cruise throttle (cm/s), used for time/distance left before RTH

src/main/navigation/navigation_fixedwing.c

@@ -116,7 +116,7 @@ bool adjustFixedWingAltitudeFromRCInput(void)
 
     if (rcAdjustment) {
         // set velocity proportional to stick movement
-        float rcClimbRate = -rcAdjustment * navConfig()->general.max_manual_climb_rate / (500.0f - rcControlsConfig()->alt_hold_deadband);
+        float rcClimbRate = -rcAdjustment * navConfig()->fw.max_manual_climb_rate / (500.0f - rcControlsConfig()->alt_hold_deadband);
         updateClimbRateToAltitudeController(rcClimbRate, 0, ROC_TO_ALT_CONSTANT);
         return true;
     }

src/main/navigation/navigation_multicopter.c

@@ -77,9 +77,9 @@ static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
     float vel_max_z = 0.0f;
 
     if (posControl.flags.isAdjustingAltitude) {
-        vel_max_z = navConfig()->general.max_manual_climb_rate;
+        vel_max_z = navConfig()->mc.max_manual_climb_rate;
     } else {
-        vel_max_z = navConfig()->general.max_auto_climb_rate;
+        vel_max_z = navConfig()->mc.max_auto_climb_rate;
     }
 
     targetVel = constrainf(targetVel, -vel_max_z, vel_max_z);
@@ -151,11 +151,11 @@ bool adjustMulticopterAltitudeFromRCInput(void)
             // Make sure we can satisfy max_manual_climb_rate in both up and down directions
             if (rcThrottleAdjustment > 0) {
                 // Scaling from altHoldThrottleRCZero to maxthrottle
-                rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
+                rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
             }
             else {
                 // Scaling from minthrottle to altHoldThrottleRCZero
-                rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(altHoldThrottleRCZero - getThrottleIdleValue() - rcControlsConfig()->alt_hold_deadband);
+                rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(altHoldThrottleRCZero - getThrottleIdleValue() - rcControlsConfig()->alt_hold_deadband);
             }
 
             updateClimbRateToAltitudeController(rcClimbRate, 0, ROC_TO_ALT_CONSTANT);
@@ -221,11 +221,11 @@ void resetMulticopterAltitudeController(void)
         const float maxSpeed = getActiveSpeed();
         nav_speed_up = maxSpeed;
         nav_accel_z = maxSpeed;
-        nav_speed_down = navConfig()->general.max_auto_climb_rate;
+        nav_speed_down = navConfig()->mc.max_auto_climb_rate;
     } else {
         nav_speed_up = navConfig()->general.max_manual_speed;
         nav_accel_z = navConfig()->general.max_manual_speed;
-        nav_speed_down = navConfig()->general.max_manual_climb_rate;
+        nav_speed_down = navConfig()->mc.max_manual_climb_rate;
     }
 
     sqrtControllerInit(
@@ -252,8 +252,8 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
             if (prepareForTakeoffOnReset) {
                 const navEstimatedPosVel_t *posToUse = navGetCurrentActualPositionAndVelocity();
 
-                posControl.desiredState.vel.z = -navConfig()->general.max_manual_climb_rate;
-                posControl.desiredState.pos.z = posToUse->pos.z - (navConfig()->general.max_manual_climb_rate / posControl.pids.pos[Z].param.kP);
+                posControl.desiredState.vel.z = -navConfig()->mc.max_manual_climb_rate;
+                posControl.desiredState.pos.z = posToUse->pos.z - (navConfig()->mc.max_manual_climb_rate / posControl.pids.pos[Z].param.kP);
                 posControl.pids.vel[Z].integrator = -500.0f;
                 pt1FilterReset(&altholdThrottleFilterState, -500.0f);
                 prepareForTakeoffOnReset = false;