Remove unnecessary parameters from profiles

src/main/fc/rc_adjustments.c

@@ -574,7 +574,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
             navigationUsePIDs();
             break;
         case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
-            applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &currentBatteryProfileMutable->fwMinThrottleDownPitchAngle, delta, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MIN, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MAX);
+            applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &navConfigMutable()->fw.minThrottleDownPitchAngle, delta, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MIN, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MAX);
             break;
 #if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
         case ADJUSTMENT_VTX_POWER_LEVEL:

src/main/fc/settings.yaml

@@ -1140,12 +1140,6 @@ groups:
         default_value: 1000
         min: PWM_RANGE_MIN
         max: PWM_RANGE_MAX
-      - name: fw_min_throttle_down_pitch
-        description: "Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)"
-        default_value: 0
-        field: fwMinThrottleDownPitchAngle
-        min: 0
-        max: 450
       - name: nav_mc_hover_thr
         description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
         default_value: 1500
@@ -1915,11 +1909,6 @@ groups:
         field: fixedWingItermThrowLimit
         min: FW_ITERM_THROW_LIMIT_MIN
         max: FW_ITERM_THROW_LIMIT_MAX
-      - name: fw_loiter_direction
-        description: "Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick."
-        default_value: "RIGHT"
-        field: loiter_direction
-        table: direction
       - name: fw_reference_airspeed
         description: "Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present."
         default_value: 1500
@@ -2756,6 +2745,12 @@ groups:
         field: fw.pitch_to_throttle_smooth
         min: 0
         max: 9
+      - name: fw_min_throttle_down_pitch
+        description: "Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)"
+        default_value: 0
+        field: fw.minThrottleDownPitchAngle
+        min: 0
+        max: 450
       - name: nav_fw_pitch2thr_threshold
         description: "Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]"
         default_value: 50
@@ -2768,6 +2763,11 @@ groups:
         field: fw.loiter_radius
         min: 0
         max: 30000
+      - name: fw_loiter_direction
+        description: "Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick."
+        default_value: "RIGHT"
+        field: fw.loiter_direction
+        table: direction
       - name: nav_fw_cruise_speed
         description: "Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s"
         default_value: 0

src/main/flight/pid.c

@@ -172,7 +172,7 @@ static EXTENDED_FASTRAM bool levelingEnabled = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 4);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 5);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {
@@ -278,7 +278,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .fixedWingItermLimitOnStickPosition = SETTING_FW_ITERM_LIMIT_STICK_POSITION_DEFAULT,
         .fixedWingYawItermBankFreeze = SETTING_FW_YAW_ITERM_FREEZE_BANK_ANGLE_DEFAULT,
 
-        .loiter_direction = SETTING_FW_LOITER_DIRECTION_DEFAULT,
         .navVelXyDTermLpfHz = SETTING_NAV_MC_VEL_XY_DTERM_LPF_HZ_DEFAULT,
         .navVelXyDtermAttenuation = SETTING_NAV_MC_VEL_XY_DTERM_ATTENUATION_DEFAULT,
         .navVelXyDtermAttenuationStart = SETTING_NAV_MC_VEL_XY_DTERM_ATTENUATION_START_DEFAULT,
@@ -597,7 +596,7 @@ static float computePidLevelTarget(flight_dynamics_index_t axis) {
 
     // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
     if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
-        angleTarget += scaleRange(MAX(0, currentBatteryProfile->nav.fw.cruise_throttle - rcCommand[THROTTLE]), 0, currentBatteryProfile->nav.fw.cruise_throttle - PWM_RANGE_MIN, 0, currentBatteryProfile->fwMinThrottleDownPitchAngle);
+        angleTarget += scaleRange(MAX(0, currentBatteryProfile->nav.fw.cruise_throttle - rcCommand[THROTTLE]), 0, currentBatteryProfile->nav.fw.cruise_throttle - PWM_RANGE_MIN, 0, navConfig()->fw.minThrottleDownPitchAngle);
     }
 
     //PITCH trim applied by a AutoLevel flight mode and manual pitch trimming

src/main/flight/pid.h

@@ -132,8 +132,7 @@ typedef struct pidProfile_s {
     float       fixedWingCoordinatedPitchGain;    // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
     float       fixedWingItermLimitOnStickPosition;   //Do not allow Iterm to grow when stick position is above this point
     uint16_t    fixedWingYawItermBankFreeze;       // Freeze yaw Iterm when bank angle is more than this many degrees
-
-    uint8_t     loiter_direction;               // Direction of loitering center point on right wing (clockwise - as before), or center point on left wing (counterclockwise)
+
     float       navVelXyDTermLpfHz;
     uint8_t navVelXyDtermAttenuation;       // VEL_XY dynamic Dterm scale: Dterm will be attenuatedby this value (in percent) when UAV is traveling with more than navVelXyDtermAttenuationStart percents of max velocity
     uint8_t navVelXyDtermAttenuationStart;  // VEL_XY dynamic Dterm scale: Dterm attenuation will begin at this percent of max velocity

src/main/io/osd.c

@@ -2564,7 +2564,7 @@ static bool osdDrawSingleElement(uint8_t item)
         return true;
 
     case OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
-        osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "0TP", 0, (float)currentBatteryProfile->fwMinThrottleDownPitchAngle / 10, 3, 1, ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE);
+        osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "0TP", 0, (float)navConfig()->fw.minThrottleDownPitchAngle / 10, 3, 1, ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE);
         return true;
 
     case OSD_FW_ALT_PID_OUTPUTS:

src/main/io/osd_dji_hd.c

@@ -953,7 +953,7 @@ static void osdDJIAdjustmentMessage(char *buff, uint8_t adjustmentFunction)
             tfp_sprintf(buff, "VZD %3d", pidBankMutable()->pid[PID_VEL_Z].D);
             break;
         case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
-            tfp_sprintf(buff, "MTDPA %4d", currentBatteryProfileMutable->fwMinThrottleDownPitchAngle);
+            tfp_sprintf(buff, "MTDPA %4d", navConfigMutable()->fw.minThrottleDownPitchAngle);
             break;
         case ADJUSTMENT_TPA:
             tfp_sprintf(buff, "TPA %3d", currentControlRateProfile->throttle.dynPID);

src/main/navigation/navigation.c

@@ -99,7 +99,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 3);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -185,7 +185,9 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .control_smoothness = SETTING_NAV_FW_CONTROL_SMOOTHNESS_DEFAULT,
         .pitch_to_throttle_smooth = SETTING_NAV_FW_PITCH2THR_SMOOTHING_DEFAULT,
         .pitch_to_throttle_thresh = SETTING_NAV_FW_PITCH2THR_THRESHOLD_DEFAULT,
+        .minThrottleDownPitchAngle = SETTING_FW_MIN_THROTTLE_DOWN_PITCH_DEFAULT,
         .loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT,                  // 75m
+        .loiter_direction = SETTING_FW_LOITER_DIRECTION_DEFAULT,
 
         //Fixed wing landing
         .land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT,              // 2 degrees dive by default

src/main/navigation/navigation.h

@@ -291,11 +291,13 @@ typedef struct navConfig_s {
         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
-        uint8_t control_smoothness;          // The amount of smoothing to apply to controls for navigation
+        uint8_t  control_smoothness;         // The amount of smoothing to apply to controls for navigation
         uint16_t pitch_to_throttle_smooth;   // How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh.
         uint8_t  pitch_to_throttle_thresh;   // Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]
+        uint16_t minThrottleDownPitchAngle;  // Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle. [decidegrees]
         uint16_t loiter_radius;              // Loiter radius when executing PH on a fixed wing
-        int8_t land_dive_angle;
+        uint8_t  loiter_direction;           // Direction of loitering center point on right wing (clockwise - as before), or center point on left wing (counterclockwise)
+        int8_t   land_dive_angle;
         uint16_t launch_velocity_thresh;     // Velocity threshold for swing launch detection
         uint16_t launch_accel_thresh;        // Acceleration threshold for launch detection (cm/s/s)
         uint16_t launch_time_thresh;         // Time threshold for launch detection (ms)

src/main/navigation/navigation_fixedwing.c

@@ -240,11 +240,11 @@ void resetFixedWingPositionController(void)
 static int8_t loiterDirection(void) {
     int8_t dir = 1; //NAV_LOITER_RIGHT
 
-    if (pidProfile()->loiter_direction == NAV_LOITER_LEFT) {
+    if (navConfig()->fw.loiter_direction == NAV_LOITER_LEFT) {
         dir = -1;
     }
 
-    if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
+    if (navConfig()->fw.loiter_direction == NAV_LOITER_YAW) {
 
         if (rcCommand[YAW] < -250) {
             loiterDirYaw = 1; //RIGHT //yaw is contrariwise

src/main/sensors/battery.c

@@ -94,7 +94,7 @@ static int32_t mWhDrawn = 0;                    // energy (milliWatt hours) draw
 batteryState_e batteryState;
 const batteryProfile_t *currentBatteryProfile;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 1);
+PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 2);
 
 void pgResetFn_batteryProfiles(batteryProfile_t *instance)
 {
@@ -130,8 +130,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
 
             .failsafe_throttle = SETTING_FAILSAFE_THROTTLE_DEFAULT,                                 // default throttle off.
 
-            .fwMinThrottleDownPitchAngle = SETTING_FW_MIN_THROTTLE_DOWN_PITCH_DEFAULT,
-
             .nav = {
 
                 .mc = {

src/main/sensors/battery_config_structs.h

@@ -106,8 +106,6 @@ typedef struct batteryProfile_s {
 
     uint16_t failsafe_throttle;             // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
 
-    uint16_t fwMinThrottleDownPitchAngle;
-
     struct {
 
         struct {