ezLanding

src/main/blackbox/blackbox.c

@@ -1330,6 +1330,8 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_MODE, "%d",               currentPidProfile->tpa_mode);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_RATE, "%d",               currentPidProfile->tpa_rate);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_BREAKPOINT, "%d",         currentPidProfile->tpa_breakpoint);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_EZ_LANDING_THRESHOLD, "%d",   currentPidProfile->ez_landing_threshold);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_EZ_LANDING_LIMIT, "%d",       currentPidProfile->ez_landing_limit);
         BLACKBOX_PRINT_HEADER_LINE("rc_rates", "%d,%d,%d",                  currentControlRateProfile->rcRates[ROLL],
                                                                             currentControlRateProfile->rcRates[PITCH],
                                                                             currentControlRateProfile->rcRates[YAW]);

src/main/cli/settings.c

@@ -1213,10 +1213,12 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_SIMPLIFIED_GYRO_FILTER_MULTIPLIER,  VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_FILTERS_MIN, SIMPLIFIED_TUNING_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter_multiplier) },
 #endif
 #ifdef USE_TPA_MODE
-    { PARAM_NAME_TPA_MODE,          VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_mode) },
+    { PARAM_NAME_TPA_MODE,             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_mode) },
 #endif
-    { PARAM_NAME_TPA_RATE,          VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, TPA_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_rate) },
-    { PARAM_NAME_TPA_BREAKPOINT,    VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint) },
+    { PARAM_NAME_TPA_RATE,             VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, TPA_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_rate) },
+    { PARAM_NAME_TPA_BREAKPOINT,       VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint) },
+    { PARAM_NAME_EZ_LANDING_THRESHOLD, VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_threshold) },
+    { PARAM_NAME_EZ_LANDING_LIMIT,     VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_limit) },
 
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY

src/main/fc/parameter_names.h

@@ -55,6 +55,8 @@
 #define PARAM_NAME_TPA_RATE "tpa_rate"
 #define PARAM_NAME_TPA_BREAKPOINT "tpa_breakpoint"
 #define PARAM_NAME_TPA_MODE "tpa_mode"
+#define PARAM_NAME_EZ_LANDING_THRESHOLD "ez_landing_threshold"
+#define PARAM_NAME_EZ_LANDING_LIMIT "ez_landing_limit"
 #define PARAM_NAME_THROTTLE_LIMIT_TYPE "throttle_limit_type"
 #define PARAM_NAME_THROTTLE_LIMIT_PERCENT "throttle_limit_percent"
 #define PARAM_NAME_GYRO_CAL_ON_FIRST_ARM "gyro_cal_on_first_arm"

src/main/fc/rc.c

@@ -65,6 +65,7 @@ float rcCommandDelta[XYZ_AXIS_COUNT];
 #endif
 static float rawSetpoint[XYZ_AXIS_COUNT];
 static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
+static float maxRcDeflectionAbs;
 static bool reverseMotors = false;
 static applyRatesFn *applyRates;
 static uint16_t currentRxRefreshRate;
@@ -132,6 +133,11 @@ float getRcDeflectionAbs(int axis)
     return rcDeflectionAbs[axis];
 }
 
+float getMaxRcDeflectionAbs(void)
+{
+    return maxRcDeflectionAbs;
+}
+
 #ifdef USE_FEEDFORWARD
 float getRawSetpoint(int axis)
 {
@@ -543,6 +549,7 @@ FAST_CODE void processRcCommand(void)
 {
     if (isRxDataNew) {
         newRxDataForFF = true;
+        maxRcDeflectionAbs = 0.0f;
         for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
 
 #ifdef USE_FEEDFORWARD
@@ -575,6 +582,7 @@ FAST_CODE void processRcCommand(void)
                 rcDeflection[axis] = rcCommandf;
                 const float rcCommandfAbs = fabsf(rcCommandf);
                 rcDeflectionAbs[axis] = rcCommandfAbs;
+                maxRcDeflectionAbs = fmaxf(maxRcDeflectionAbs, rcCommandfAbs);
 
                 angleRate = applyRates(axis, rcCommandf, rcCommandfAbs);
 

src/main/fc/rc.h

@@ -33,6 +33,7 @@ void processRcCommand(void);
 float getSetpointRate(int axis);
 float getRcDeflection(int axis);
 float getRcDeflectionAbs(int axis);
+float getMaxRcDeflectionAbs(void);
 void updateRcCommands(void);
 void resetYawAxis(void);
 void initRcProcessing(void);

src/main/flight/mixer.c

@@ -262,6 +262,21 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
         motorOutputMin = motorRangeMin;
         motorOutputRange = motorRangeMax - motorRangeMin;
         motorOutputMixSign = 1;
+
+        // easy landing code, limits motor output when sticks and throttle are below threshold
+        const float throttlePercent = throttle / 1000.0f;
+        if (mixerRuntime.ezLandingThreshold && throttlePercent < mixerRuntime.ezLandingThreshold) { // throttle low
+            float ezLandAttenuator = 0.0f;
+            float maxDeflection = getMaxRcDeflectionAbs();
+            if (maxDeflection < mixerRuntime.ezLandingThreshold) { // all sticks, including throttle, under threshold
+                ezLandAttenuator = fmaxf(maxDeflection, throttlePercent); // value range 0 -> threshold
+                ezLandAttenuator /= mixerRuntime.ezLandingThreshold; // normalised 0 - 1
+                ezLandAttenuator = 1.0f - ezLandAttenuator; // 1 -> 0
+                ezLandAttenuator *= mixerRuntime.ezLandingLimit; // eg 0.9 -> 0.0 if limit is 10
+            }
+            const float motorRange = motorRangeMax - mixerRuntime.motorOutputLow;
+            motorRangeMax -= ezLandAttenuator * motorRange; // available motor range limited to 15% if threshold is 15
+        }
     }
 
     throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);

src/main/flight/mixer_init.c

@@ -322,6 +322,9 @@ void mixerInitProfile(void)
         }
     }
 #endif
+
+    mixerRuntime.ezLandingThreshold = currentPidProfile->ez_landing_threshold / 100.0f;
+    mixerRuntime.ezLandingLimit = 1.0f - currentPidProfile->ez_landing_limit / 100.0f;
 }
 
 #ifdef USE_LAUNCH_CONTROL

src/main/flight/mixer_init.h

@@ -53,6 +53,8 @@ typedef struct mixerRuntime_s {
     float vbatFull;
     float vbatRangeToCompensate;
 #endif
+    float ezLandingThreshold;
+    float ezLandingLimit;
 } mixerRuntime_t;
 
 extern mixerRuntime_t mixerRuntime;

src/main/flight/pid.c

@@ -223,6 +223,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .tpa_mode = TPA_MODE_D,
         .tpa_rate = 65,
         .tpa_breakpoint = 1350,
+        .ez_landing_threshold = 25,
+        .ez_landing_limit = 10,
     );
 
 #ifndef USE_D_MIN

src/main/flight/pid.h

@@ -233,6 +233,8 @@ typedef struct pidProfile_s {
     uint8_t tpa_mode;                       // Controls which PID terms TPA effects
     uint8_t tpa_rate;                       // Percent reduction in P or D at full throttle
     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
+    uint8_t ez_landing_threshold;           // Threshold stick position below which motor output is limited
+    uint8_t ez_landing_limit;               // Maximum motor output when all sticks centred and throttle zero
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);