Merge pull request #4640 from iNavFlight/dzikuvx-remove-sticks-arming

Remove sticks arming

Author: DzikuVx

src/main/fc/fc_core.c

@@ -250,13 +250,11 @@ static void updateArmingStatus(void)
         }
 
         /* CHECK: Arming switch */
-        if (!isUsingSticksForArming()) {
-            // If arming is disabled and the ARM switch is on
-            if (isArmingDisabled() && IS_RC_MODE_ACTIVE(BOXARM)) {
-                ENABLE_ARMING_FLAG(ARMING_DISABLED_ARM_SWITCH);
-            } else if (!IS_RC_MODE_ACTIVE(BOXARM)) {
-                DISABLE_ARMING_FLAG(ARMING_DISABLED_ARM_SWITCH);
-            }
+        // If arming is disabled and the ARM switch is on
+        if (isArmingDisabled() && IS_RC_MODE_ACTIVE(BOXARM)) {
+            ENABLE_ARMING_FLAG(ARMING_DISABLED_ARM_SWITCH);
+        } else if (!IS_RC_MODE_ACTIVE(BOXARM)) {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_ARM_SWITCH);
         }
 
         /* CHECK: BOXFAILSAFE */
@@ -655,17 +653,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     applyWaypointNavigationAndAltitudeHold();
 #endif
 
-    // If we're armed, at minimum throttle, and we do arming via the
-    // sticks, do not process yaw input from the rx.  We do this so the
-    // motors do not spin up while we are trying to arm or disarm.
-    // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
-    if (isUsingSticksForArming() && rxGetChannelValue(THROTTLE) <= rxConfig()->mincheck
-            && !((mixerConfig()->platformType == PLATFORM_TRICOPTER) && servoConfig()->tri_unarmed_servo)
-            && mixerConfig()->platformType != PLATFORM_AIRPLANE
-    ) {
-        rcCommand[YAW] = 0;
-    }
-
     // Apply throttle tilt compensation
     if (!STATE(FIXED_WING)) {
         int16_t thrTiltCompStrength = 0;

src/main/fc/rc_controls.c

@@ -177,25 +177,23 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
     rcSticks = stTmp;
 
     // perform actions
-    if (!isUsingSticksForArming()) {
-        if (IS_RC_MODE_ACTIVE(BOXARM)) {
-            rcDisarmTimeMs = currentTimeMs;
-            tryArm();
-        } else {
-            // Disarming via ARM BOX
-            // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
-            // and can't afford to risk disarming in the air
-            if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
-                const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
-                if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
-                    if (armingConfig()->disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
-                        disarm(DISARM_SWITCH);
-                    }
+    if (IS_RC_MODE_ACTIVE(BOXARM)) {
+        rcDisarmTimeMs = currentTimeMs;
+        tryArm();
+    } else {
+        // Disarming via ARM BOX
+        // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
+        // and can't afford to risk disarming in the air
+        if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
+            const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
+            if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
+                if (armingConfig()->disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
+                    disarm(DISARM_SWITCH);
                 }
             }
-            else {
-                rcDisarmTimeMs = currentTimeMs;
-            }
+        }
+        else {
+            rcDisarmTimeMs = currentTimeMs;
         }
     }
 
@@ -208,23 +206,6 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
         return;
     }
 
-   if (isUsingSticksForArming()) {
-        // Disarm on throttle down + yaw
-        if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
-            // Dont disarm if fixedwing and motorstop
-            if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
-                return;
-            }
-            else if (ARMING_FLAG(ARMED)) {
-                disarm(DISARM_STICKS);
-            }
-            else {
-                beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
-                rcDelayCommand = 0;              // reset so disarm tone will repeat
-            }
-        }
-   }
-
     if (ARMING_FLAG(ARMED)) {
         // actions during armed
         return;
@@ -294,40 +275,18 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
         saveConfigAndNotify();
     }
 
-
-    // Arming by sticks
-    if (isUsingSticksForArming()) {
-        if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
-            // Auto arm on throttle when using fixedwing and motorstop
-            if (throttleStatus != THROTTLE_LOW) {
-                tryArm();
-                return;
-            }
-        }
-        else {
-            if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
-                // Arm via YAW
-                tryArm();
-                return;
-            }
-        }
-    }
-
-
     // Calibrating Acc
     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
         accStartCalibration();
         return;
     }
 
-
     // Calibrating Mag
     if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
         ENABLE_STATE(CALIBRATE_MAG);
         return;
     }
 
-
     // Accelerometer Trim
     if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
         applyAndSaveBoardAlignmentDelta(0, -2);

src/main/fc/rc_modes.c

@@ -35,7 +35,6 @@
 #include "rx/rx.h"
 
 static uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
-static bool isUsingSticksToArm = true;
 #ifdef USE_NAV
 static bool isUsingNAVModes = false;
 #endif
@@ -54,11 +53,6 @@ boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
 PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
 PG_REGISTER(modeActivationOperatorConfig_t, modeActivationOperatorConfig, PG_MODE_ACTIVATION_OPERATOR_CONFIG, 0);
 
-bool isUsingSticksForArming(void)
-{
-    return isUsingSticksToArm;
-}
-
 bool isAirmodeActive(void)
 {
     return feature(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE);
@@ -159,8 +153,6 @@ void updateUsedModeActivationConditionFlags(void)
         }
     }
 
-    isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
-
 #ifdef USE_NAV
     isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
                         isModeActivationConditionPresent(BOXNAVRTH) ||

src/main/fc/rc_modes.h

@@ -120,7 +120,6 @@ void rcModeUpdate(boxBitmask_t *newState);
 
 bool isModeActivationConditionPresent(boxId_e modeId);
 
-bool isUsingSticksForArming(void);
 bool isAirmodeActive(void);
 bool isUsingNavigationModes(void);
 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);

src/main/flight/failsafe.c

@@ -513,7 +513,7 @@ void failsafeUpdateState(void)
                 if (receivingRxDataAndNotFailsafeMode) {
                     if (millis() > failsafeState.receivingRxDataPeriod) {
                         // rx link is good now, when arming via ARM switch, it must be OFF first
-                        if (!(!isUsingSticksForArming() && IS_RC_MODE_ACTIVE(BOXARM))) {
+                        if (!IS_RC_MODE_ACTIVE(BOXARM)) {
                             // XXX: Requirements for removing the ARMING_DISABLED_FAILSAFE_SYSTEM flag
                             // are tested by osd.c to show the user how to re-arm. If these
                             // requirements change, update osdArmingDisabledReasonMessage().

src/main/io/osd.c

@@ -600,10 +600,6 @@ static const char * osdArmingDisabledReasonMessage(void)
             // See handling of FAILSAFE_RX_LOSS_MONITORING in failsafe.c
             if (failsafePhase() == FAILSAFE_RX_LOSS_MONITORING) {
                 if (failsafeIsReceivingRxData()) {
-                    if (isUsingSticksForArming()) {
-                        // Need to power-cycle
-                        return OSD_MESSAGE_STR("POWER CYCLE TO ARM");
-                    }
                     // If we're not using sticks, it means the ARM switch
                     // hasn't been off since entering FAILSAFE_RX_LOSS_MONITORING
                     // yet