Change ez_landing setting values and refactoring

- Halve defaul ez_landing_threshold setting and double in init instead.
  Now stick deflection equal to ez_landing_threshold should give approimately full authority.
  Previously it was the point where the mixer was allowed to raise the throttle to 100 % (which wouuld never be required)
- Increase ez_landing_threshold maximum to 200 (from 100) to allow settings that increase authority by a little at full stick deflection
- Increase ez_landing_limit maximum to 75 which is the point where EzLanding should act identical to the Legacy mixer with airmode on
- remove throttle percent from
- simplify calculation of , since throttle stick deflection is no longer involved
- update/remove outdated comments

src/main/cli/settings.c

@@ -1259,8 +1259,8 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_TPA_BREAKPOINT_LOWER,      VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PWM_RANGE_MIN, PWM_RANGE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint_lower) },
     { PARAM_NAME_TPA_BREAKPOINT_LOWER_FADE, VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint_lower_fade) },
 
-    { PARAM_NAME_EZ_LANDING_THRESHOLD,      VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_threshold) },
-    { PARAM_NAME_EZ_LANDING_LIMIT,          VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_limit) },
+    { PARAM_NAME_EZ_LANDING_THRESHOLD,      VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_threshold) },
+    { PARAM_NAME_EZ_LANDING_LIMIT,          VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 75 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_limit) },
 
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY

src/main/flight/mixer.c

@@ -97,21 +97,6 @@ void stopMotors(void)
     delay(50); // give the timers and ESCs a chance to react.
 }
 
-static float calcEzLandStrength(float throttlePercent, float maxDeflection)
-{
-    // easy landing code, limits motor output when sticks and throttle are below threshold
-    float ezLandAttenuator = 0.0f;
-    if (throttlePercent < mixerRuntime.ezLandingThreshold
-            && maxDeflection < mixerRuntime.ezLandingThreshold) { // throttle low
-        // 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
-    }
-    return constrainf(ezLandAttenuator, 0.0f, 1.0f);
-}
-
 static FAST_DATA_ZERO_INIT float throttle = 0;
 static FAST_DATA_ZERO_INIT float mixerThrottle = 0;
 static FAST_DATA_ZERO_INIT float motorOutputMin;
@@ -515,6 +500,18 @@ static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnable
     throttle = constrainf(throttle, -minMotor, 1.0f - maxMotor);
 }
 
+static float calcEzLandLimit(float maxDeflection)
+{
+    // calculate limit to where the mixer can raise the throttle based on RPY stick deflection
+    // 0.0 = no increas allowed, 1.0 = 100% increase allowed
+    float ezLandLimit = 1.0f;
+    if (maxDeflection < mixerRuntime.ezLandingThreshold) { // roll, pitch and yaw sticks under threshold
+        ezLandLimit = maxDeflection / mixerRuntime.ezLandingThreshold; // normalised 0 - 1
+        ezLandLimit = fmaxf(ezLandLimit, mixerRuntime.ezLandingLimit); // stay above the minimum
+    }
+    return ezLandLimit;
+}
+
 static void applyMixerAdjustmentEzLand(float *motorMix, const float motorMixMin, const float motorMixMax)
 {
     // Calculate factor for normalizing motor mix range to <= 1.0
@@ -523,8 +520,8 @@ static void applyMixerAdjustmentEzLand(float *motorMix, const float motorMixMin,
     const float normalizedMotorMixMax = motorMixMax * baseNormalizationFactor;
 
     // Upper throttle limit
-    // range default 0.1 - 1.0 with ezLandingLimit = 10, no stick deflection -> 0.1
-    const float ezLandLimit = 1.0f - calcEzLandStrength(0.0f, getMaxRcDeflectionAbs());
+    // range default 0.05 - 1.0 with ezLandingLimit = 5, no stick deflection -> 0.05
+    const float ezLandLimit = calcEzLandLimit(getMaxRcDeflectionAbs());
     // use the largest of throttle and limit calculated from RPY stick positions
     float upperLimit = fmaxf(ezLandLimit, throttle);
     // limit throttle to avoid clipping the highest motor output

src/main/flight/mixer_init.c

@@ -365,8 +365,8 @@ void mixerInitProfile(void)
     mixerResetRpmLimiter();
 #endif
 
-    mixerRuntime.ezLandingThreshold = currentPidProfile->ez_landing_threshold / 100.0f;
-    mixerRuntime.ezLandingLimit = 1.0f - currentPidProfile->ez_landing_limit / 100.0f;
+    mixerRuntime.ezLandingThreshold = 2.0f * currentPidProfile->ez_landing_threshold / 100.0f;
+    mixerRuntime.ezLandingLimit = currentPidProfile->ez_landing_limit / 100.0f;
 }
 
 #ifdef USE_RPM_LIMIT

src/main/flight/pid.c

@@ -227,7 +227,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .tpa_rate_lower = 20,
         .tpa_breakpoint_lower = 1050,
         .tpa_breakpoint_lower_fade = 1,
-        .ez_landing_threshold = 50,
+        .ez_landing_threshold = 25,
         .ez_landing_limit = 5,
     );