LP-549 Make ASWA throttle threshold configurable. Add FlightModeSettings.AlwaysStabilizeWhenArmedThrottleThreshold with default value of 0.2

Author: mindnever

flight/modules/ManualControl/manualcontrol.c

@@ -66,7 +66,6 @@
 #define ASSISTEDCONTROL_BRAKETHRUST_DEADBAND_FACTOR_HI 1.04f
 
 #define ALWAYSTABILIZEACCESSORY_THRESHOLD              0.05f
-#define ALWAYSTABILIZETHROTTLE_THRESHOLD               0.2f
 
 // defined handlers
 
@@ -500,7 +499,8 @@ static void manualControlTask(void)
     if (alwaysStabilizedSwitch) {
         if (acc.AccessoryVal <= -ALWAYSTABILIZEACCESSORY_THRESHOLD) {
             newAlwaysStabilized = FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_FALSE;
-        } else if ((acc.AccessoryVal >= ALWAYSTABILIZEACCESSORY_THRESHOLD) && (cmd.Thrust >= ALWAYSTABILIZETHROTTLE_THRESHOLD)) { // && Thrust (or Throttle?) above threshold
+        } else if ((acc.AccessoryVal >= ALWAYSTABILIZEACCESSORY_THRESHOLD) &&
+                   (cmd.Throttle >= modeSettings.AlwaysStabilizeWhenArmedThrottleThreshold)) {
             newAlwaysStabilized = FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_TRUE;
         }
     } else {

shared/uavobjectdefinition/flightmodesettings.xml

@@ -82,7 +82,8 @@
                options="Disabled,Accessory 0,Accessory 1,Accessory 2,Accessory 3"
                defaultvalue="Disabled"
                description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
-        
+        <field name="AlwaysStabilizeWhenArmedThrottleThreshold" units="%" type="float" elements="1" defaultvalue="0.2"/>
+
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
         <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>