Replace PASSTHROUGH with MANUAL flight mode (FW)

src/main/cms/cms_menu_imu.c

@@ -259,6 +259,35 @@ static CMS_Menu cmsx_menuPidGpsnav = {
     .entries = cmsx_menuPidGpsnavEntries,
 };
 
+//
+// MANUAL Rate & Expo
+//
+static OSD_Entry cmsx_menuManualRateProfileEntries[] =
+{
+    { "-- MANUAL RATE --", OME_Label, NULL, profileIndexString, 0 },
+
+    OSD_SETTING_ENTRY("MANU ROLL RATE", SETTING_MANUAL_ROLL_RATE),
+    OSD_SETTING_ENTRY("MANU PITCH RATE", SETTING_MANUAL_PITCH_RATE),
+    OSD_SETTING_ENTRY("MANU YAW RATE", SETTING_MANUAL_YAW_RATE),
+
+    OSD_SETTING_ENTRY("MANU RC EXPO", SETTING_RC_MANUAL_EXPO),
+    OSD_SETTING_ENTRY("MANU RC YAW EXP", SETTING_RC_MANUAL_YAW_EXPO),
+
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+static CMS_Menu cmsx_menuManualRateProfile = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUMANURATE",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = NULL,
+    .onExit = NULL,
+    .onGlobalExit = NULL,
+    .entries = cmsx_menuManualRateProfileEntries
+};
+
 //
 // Rate & Expo
 //
@@ -423,6 +452,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
     // Rate profile dependent
     {"RATE PROF", OME_UINT8,   cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_RATE_PROFILE_COUNT, 1}, 0},
     {"RATE",      OME_Submenu, cmsMenuChange,                 &cmsx_menuRateProfile,                                       0},
+    {"MANU RATE", OME_Submenu, cmsMenuChange,                 &cmsx_menuManualRateProfile,                                 0},
 
     // Global
     {"GYRO GLB",  OME_Submenu, cmsMenuChange,                 &cmsx_menuGyro,                                              0},

src/main/fc/controlrate_profile.c

@@ -40,14 +40,19 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
     for (int i = 0; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
         RESET_CONFIG(controlRateConfig_t, &instance[i],
             .rcExpo8 = 70,
+            .manual_rcExpo8 = 70,
             .thrMid8 = 50,
             .thrExpo8 = 0,
             .dynThrPID = 0,
             .rcYawExpo8 = 20,
+            .manual_rcYawExpo8 = 20,
             .tpa_breakpoint = 1500,
             .rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
             .rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
-            .rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT
+            .rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT,
+            .manual_rates[FD_ROLL] = 100,
+            .manual_rates[FD_PITCH] = 100,
+            .manual_rates[FD_YAW] = 100
         );
     }
 }

src/main/fc/controlrate_profile.h

@@ -43,11 +43,14 @@ and so on.
 typedef struct controlRateConfig_s {
     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
     uint8_t rcExpo8;
+    uint8_t manual_rcExpo8;
     uint8_t thrMid8;
     uint8_t thrExpo8;
     uint8_t rates[3];
+    uint8_t manual_rates[3];
     uint8_t dynThrPID;
     uint8_t rcYawExpo8;
+    uint8_t manual_rcYawExpo8;
 } controlRateConfig_t;
 
 PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);

src/main/fc/fc_core.c

@@ -294,9 +294,9 @@ void annexCode(void)
     }
     else {
         // Compute ROLL PITCH and YAW command
-        rcCommand[ROLL] = getAxisRcCommand(rcData[ROLL], currentControlRateProfile->rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[PITCH] = getAxisRcCommand(rcData[PITCH], currentControlRateProfile->rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[YAW] = -getAxisRcCommand(rcData[YAW], currentControlRateProfile->rcYawExpo8, rcControlsConfig()->yaw_deadband);
+        rcCommand[ROLL] = getAxisRcCommand(rcData[ROLL], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual_rcExpo8 : currentControlRateProfile->rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[PITCH] = getAxisRcCommand(rcData[PITCH], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual_rcExpo8 : currentControlRateProfile->rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[YAW] = -getAxisRcCommand(rcData[YAW], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual_rcYawExpo8 : currentControlRateProfile->rcYawExpo8, rcControlsConfig()->yaw_deadband);
 
         //Compute THROTTLE command
         throttleValue = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
@@ -561,19 +561,20 @@ void processRx(timeUs_t currentTimeUs)
 
     // Handle passthrough mode
     if (STATE(FIXED_WING)) {
-        if ((IS_RC_MODE_ACTIVE(BOXPASSTHRU) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
+        if ((IS_RC_MODE_ACTIVE(BOXMANUAL) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
             (!ARMING_FLAG(ARMED) && isCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
-            ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
+            ENABLE_FLIGHT_MODE(MANUAL_MODE);
         } else {
-            DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
+            DISABLE_FLIGHT_MODE(MANUAL_MODE);
         }
+	IS_RC_MODE_ACTIVE(BOXMANUAL) ? ENABLE_FLIGHT_MODE(MANUAL_MODE) : DISABLE_FLIGHT_MODE(MANUAL_MODE);
     }
 
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
        This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air
        Low Throttle + roll and Pitch centered is assuming the copter is on the ground. Done to prevent complex air/ground detections */
-    if (FLIGHT_MODE(PASSTHRU_MODE) || !ARMING_FLAG(ARMED)) {
-        /* In PASSTHRU mode we reset integrators prevent I-term wind-up (PID output is not used in PASSTHRU) */
+    if (FLIGHT_MODE(MANUAL_MODE) || !ARMING_FLAG(ARMED)) {
+        /* In MANUAL mode we reset integrators prevent I-term wind-up (PID output is not used in MANUAL) */
         pidResetErrorAccumulators();
     }
     else {

src/main/fc/fc_msp_box.c

@@ -47,7 +47,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXCAMSTAB, "CAMSTAB;", 8 },
     { BOXNAVRTH, "NAV RTH;", 10 },         // old GPS HOME
     { BOXNAVPOSHOLD, "NAV POSHOLD;", 11 },     // old GPS HOLD
-    { BOXPASSTHRU, "PASSTHRU;", 12 },
+    { BOXMANUAL, "MANUAL;", 12 },
     { BOXBEEPERON, "BEEPER;", 13 },
     { BOXLEDLOW, "LEDLOW;", 15 },
     { BOXLLIGHTS, "LLIGHTS;", 16 },
@@ -186,7 +186,7 @@ void initActiveBoxIds(void)
 #endif
 
     if (STATE(FIXED_WING)) {
-        activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
+        activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
         activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
         activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
 #if defined(AUTOTUNE_FIXED_WING)
@@ -252,7 +252,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
     CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)),        BOXHEADFREE);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)),     BOXHEADADJ);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)),     BOXCAMSTAB);
-    CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)),        BOXPASSTHRU);
+    CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(MANUAL_MODE)),        BOXMANUAL);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)),    BOXBEEPERON);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)),      BOXLEDLOW);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLLIGHTS)),     BOXLLIGHTS);

src/main/fc/rc_modes.h

@@ -34,7 +34,7 @@ typedef enum {
     BOXCAMSTAB      = 7,
     BOXNAVRTH       = 8,    // old GPSHOME
     BOXNAVPOSHOLD   = 9,    // old GPSHOLD
-    BOXPASSTHRU     = 10,
+    BOXMANUAL     = 10,
     BOXBEEPERON     = 11,
     BOXLEDLOW       = 12,
     BOXLLIGHTS      = 13,
@@ -114,4 +114,4 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 
 void updateActivatedModes(void);
 void updateUsedModeActivationConditionFlags(void);
-void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);
+void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);

src/main/fc/runtime_config.c

@@ -101,7 +101,7 @@ uint32_t sensorsMask(void)
 
 flightModeForTelemetry_e getFlightModeForTelemetry(void)
 {
-    if (FLIGHT_MODE(PASSTHRU_MODE))
+    if (FLIGHT_MODE(MANUAL_MODE))
         return FLM_MANUAL;
 
     if (FLIGHT_MODE(FAILSAFE_MODE))

src/main/fc/runtime_config.h

@@ -70,14 +70,14 @@ typedef enum {
     NAV_POSHOLD_MODE= (1 << 5), // old GPS_HOLD
     HEADFREE_MODE   = (1 << 6),
     NAV_LAUNCH_MODE = (1 << 7),
-    PASSTHRU_MODE   = (1 << 8),
-    FAILSAFE_MODE   = (1 << 10),
-    AUTO_TUNE       = (1 << 11), // old G-Tune
-    NAV_WP_MODE     = (1 << 12),
-    UNUSED_MODE2    = (1 << 13),
-    FLAPERON        = (1 << 14),
+    MANUAL_MODE     = (1 << 8),
+    FAILSAFE_MODE   = (1 << 9),
+    AUTO_TUNE       = (1 << 10), // old G-Tune
+    NAV_WP_MODE     = (1 << 11),
+    UNUSED_MODE2    = (1 << 12),
+    FLAPERON        = (1 << 13),
 #ifdef USE_FLM_TURN_ASSIST
-    TURN_ASSISTANT  = (1 << 15),
+    TURN_ASSISTANT  = (1 << 14),
 #endif
 } flightModeFlags_e;
 

src/main/fc/settings.yaml

@@ -559,10 +559,18 @@ groups:
         field: rcExpo8
         min: 0
         max: 100
+      - name: rc_manual_expo
+        field: manual_rcExpo8
+        min: 0
+        max: 100
       - name: rc_yaw_expo
         field: rcYawExpo8
         min: 0
         max: 100
+      - name: rc_manual_yaw_expo
+        field: manual_rcYawExpo8
+        min: 0
+        max: 100
       - name: thr_mid
         field: thrMid8
         min: 0
@@ -592,6 +600,18 @@ groups:
       - name: tpa_breakpoint
         min: PWM_RANGE_MIN
         max: PWM_RANGE_MAX
+      - name: manual_roll_rate
+        field: manual_rates[FD_ROLL]
+        min: 0
+        max: 100
+      - name: manual_pitch_rate
+        field: manual_rates[FD_PITCH]
+        min: 0
+        max: 100
+      - name: manual_yaw_rate
+        field: manual_rates[FD_YAW]
+        min: 0
+        max: 100
 
   - name: PG_SERIAL_CONFIG
     type: serialConfig_t

src/main/flight/hil.c

@@ -57,7 +57,7 @@ void hilUpdateControlState(void)
 {
     // FIXME: There must be a cleaner way to to this
     // If HIL active, store PID outout into hilState and disable motor control
-    if (FLIGHT_MODE(PASSTHRU_MODE) || !STATE(FIXED_WING)) {
+    if (FLIGHT_MODE(MANUAL_MODE) || !STATE(FIXED_WING)) {
         hilToSIM.pidCommand[ROLL] = rcCommand[ROLL];
         hilToSIM.pidCommand[PITCH] = rcCommand[PITCH];
         hilToSIM.pidCommand[YAW] = rcCommand[YAW];

src/main/flight/mixer.c

@@ -461,7 +461,7 @@ void mixTable(void)
 {
     int16_t input[3];   // RPY, range [-500:+500]
     // Allow direct stick input to motors in passthrough mode on airplanes
-    if (STATE(FIXED_WING) && FLIGHT_MODE(PASSTHRU_MODE)) {
+    if (STATE(FIXED_WING) && FLIGHT_MODE(MANUAL_MODE)) {
         // Direct passthru from RX
         input[ROLL] = rcCommand[ROLL];
         input[PITCH] = rcCommand[PITCH];

src/main/flight/pid.c

@@ -451,7 +451,7 @@ static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamic
     }
 
 #ifdef AUTOTUNE_FIXED_WING
-    if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(PASSTHRU_MODE)) {
+    if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
         autotuneFixedWingUpdate(axis, pidState->rateTarget, pidState->gyroRate, newPTerm + newFFTerm);
     }
 #endif

src/main/flight/servos.c

@@ -43,6 +43,7 @@
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
+#include "fc/controlrate_profile.h"
 
 #include "flight/imu.h"
 #include "flight/mixer.h"
@@ -365,11 +366,10 @@ void servoMixer(float dT)
 {
     int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
 
-    if (FLIGHT_MODE(PASSTHRU_MODE)) {
-        // Direct passthru from RX
-        input[INPUT_STABILIZED_ROLL] = rcCommand[ROLL];
-        input[INPUT_STABILIZED_PITCH] = rcCommand[PITCH];
-        input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
+    if (FLIGHT_MODE(MANUAL_MODE)) {
+        input[INPUT_STABILIZED_ROLL] = rcCommand[ROLL] * currentControlRateProfile->manual_rates[FD_ROLL] / 100L;
+        input[INPUT_STABILIZED_PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual_rates[FD_PITCH] / 100L;
+	input[INPUT_STABILIZED_YAW] = rcCommand[YAW] * currentControlRateProfile->manual_rates[FD_YAW] / 100L;
     } else {
         // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
         input[INPUT_STABILIZED_ROLL] = axisPID[ROLL];

src/main/io/osd.c

@@ -951,8 +951,8 @@ static bool osdDrawSingleElement(uint8_t item)
                 p = "AIR ";
             }
 
-            if (FLIGHT_MODE(PASSTHRU_MODE))
-                p = "PASS";
+            if (FLIGHT_MODE(MANUAL_MODE))
+                p = "MANU";
             else if (FLIGHT_MODE(FAILSAFE_MODE)) {
                 p = "!FS!";
             } else if (FLIGHT_MODE(NAV_RTH_MODE))

src/main/navigation/navigation.c

@@ -2361,16 +2361,16 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
             }
         }
 
-        // RTH/Failsafe_RTH can override PASSTHRU
+        // RTH/Failsafe_RTH can override MANUAL
         if (posControl.flags.forcedRTHActivated || (IS_RC_MODE_ACTIVE(BOXNAVRTH) && canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME))) {
             // If we request forced RTH - attempt to activate it no matter what
             // This might switch to emergency landing controller if GPS is unavailable
             canActivateWaypoint = false;    // Block WP mode if we switched to RTH for whatever reason
             return NAV_FSM_EVENT_SWITCH_TO_RTH;
         }
 
-        // PASSTHRU mode has priority over WP/PH/AH
-        if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
+        // MANUAL mode has priority over WP/PH/AH
+        if (IS_RC_MODE_ACTIVE(BOXMANUAL)) {
             canActivateWaypoint = false;    // Block WP mode if we are in PASSTHROUGH mode
             return NAV_FSM_EVENT_SWITCH_TO_IDLE;
         }

src/main/rx/eleres.c

@@ -283,7 +283,7 @@ static void telemetryRX(void)
         themp = (uint8_t)(thempfil/80 + 86);
 
         if (FLIGHT_MODE(FAILSAFE_MODE))    wii_flymode = 7;
-        else if (FLIGHT_MODE(PASSTHRU_MODE))  wii_flymode = 8;
+        else if (FLIGHT_MODE(MANUAL_MODE))  wii_flymode = 8;
         else if (FLIGHT_MODE(NAV_RTH_MODE))  wii_flymode = 6;
         else if (FLIGHT_MODE(NAV_POSHOLD_MODE))  wii_flymode = 5;
         else if (FLIGHT_MODE(HEADFREE_MODE))  wii_flymode = 4;

src/main/telemetry/ltm.c

@@ -162,7 +162,7 @@ void ltm_sframe(sbuf_t *dst)
 {
     uint8_t lt_flightmode;
 
-    if (FLIGHT_MODE(PASSTHRU_MODE))
+    if (FLIGHT_MODE(MANUAL_MODE))
         lt_flightmode = 0;
     else if (FLIGHT_MODE(NAV_WP_MODE))
         lt_flightmode = 10;

src/main/telemetry/smartport.c

@@ -666,7 +666,7 @@ void handleSmartPortTelemetry(void)
                         tmpi += 10;
                     if (FLIGHT_MODE(HORIZON_MODE))
                         tmpi += 20;
-                    if (FLIGHT_MODE(PASSTHRU_MODE))
+                    if (FLIGHT_MODE(MANUAL_MODE))
                         tmpi += 40;
 
                     // hundreds column