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Require nav_fw_launch_accel for throw launch detection #11911

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Require nav_fw_launch_accel for throw launch detection #11911

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f1885b4
Require nav_fw_launch_accel for throw launch detection
Sep 10, 2026
4888b74
Expire and reset remembered launch acceleration
Raffi1202 Sep 11, 2026
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18 changes: 17 additions & 1 deletion src/main/navigation/navigation_fw_launch.c
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@

#define SWING_LAUNCH_MIN_ROTATION_RATE DEGREES_TO_RADIANS(100) // expect minimum 100dps rotation rate
#define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms
#define THROW_LAUNCH_ACCEL_HOLD_TIME 1000 // ms, throw acceleration is remembered this long while waiting for the GPS speed to catch up
#if !defined(UNUSED)
#define UNUSED(x) ((void)(x))
#endif
Expand Down Expand Up @@ -123,6 +124,7 @@ typedef struct fixedWingLaunchData_s {

static EXTENDED_FASTRAM fixedWingLaunchData_t fwLaunch;
static bool idleMotorAboutToStart;
static timeUs_t forwardAccelHighTimeUs;

static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE_COUNT] = {

Expand Down Expand Up @@ -414,16 +416,28 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs)
{
if (throttleStickIsLow()) {
forwardAccelHighTimeUs = 0;
return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
}

const float swingVelocity = (fabsf(imuMeasuredRotationBF.z) > SWING_LAUNCH_MIN_ROTATION_RATE) ? (imuMeasuredAccelBF.y / imuMeasuredRotationBF.z) : 0;
const bool isForwardAccelerationHigh = (imuMeasuredAccelBF.x > navConfig()->fw.launch_accel_thresh);
const bool isAircraftAlmostLevel = (calculateCosTiltAngle() >= cos_approx(DEGREES_TO_RADIANS(navConfig()->fw.launch_max_angle)));

if (isForwardAccelerationHigh) {
forwardAccelHighTimeUs = currentTimeUs;
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}
// The acceleration peak of a throw is over long before the GPS speed follows, so a peak seen shortly before still counts.
// Without this the throw launch would trigger on accelerometer noise alone, or on a GPS speed glitch while the aircraft is held still.
const timeDelta_t forwardAccelAgeUs = cmpTimeUs(currentTimeUs, forwardAccelHighTimeUs);
if (forwardAccelAgeUs < 0 || forwardAccelAgeUs >= MS2US(THROW_LAUNCH_ACCEL_HOLD_TIME)) {
forwardAccelHighTimeUs = 0;
}
const bool wasForwardAccelerationHigh = forwardAccelHighTimeUs != 0;

const bool isBungeeLaunched = isForwardAccelerationHigh && isAircraftAlmostLevel;
const bool isSwingLaunched = (swingVelocity > navConfig()->fw.launch_velocity_thresh) && (imuMeasuredAccelBF.x > 0);
const bool isForwardLaunched = isGPSHeadingValid() && (gpsSol.groundSpeed > navConfig()->fw.launch_velocity_thresh) && (imuMeasuredAccelBF.x > 0);
const bool isForwardLaunched = isGPSHeadingValid() && (gpsSol.groundSpeed > navConfig()->fw.launch_velocity_thresh) && wasForwardAccelerationHigh;

applyThrottleIdleLogic(false);

Expand Down Expand Up @@ -591,6 +605,8 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)

void resetFixedWingLaunchController(timeUs_t currentTimeUs)
{
forwardAccelHighTimeUs = 0;

if (navConfig()->fw.launch_manual_throttle) {
// no detection or motor control required with manual launch throttle
// so start at launch in progress
Expand Down