Added disabling of runaway takeoff prevention.

locales/en/messages.json

@@ -369,6 +369,12 @@
     "armingEnabled": {
         "message": "<strong>Arming Enabled</strong>"
     },
+    "runawayTakeoffPreventionDisabled": {
+        "message": "<strong>Runaway Takeoff Prevention temporarily Disabled</strong>"
+    },
+    "runawayTakeoffPreventionEnabled": {
+        "message": "<strong>Runaway Takeoff Prevention Enabled</strong>"
+    },
     "boardInfoReceived": {
         "message": "Board: <strong>$1</strong>, version: <strong>$2</strong>"
     },
@@ -1768,10 +1774,10 @@
         "message": "Master"
     },
     "motorsNotice": {
-        "message": "<strong>Motor Test Mode / Arming Notice:</strong><br />Moving the sliders or arming your craft with the transmitter will cause the motors to <strong>spin up</strong>.<br />In order to prevent injury <strong class=\"message-negative\">remove ALL propellers</strong> before using this feature.<br />"
+        "message": "<strong>Motor Test Mode / Arming Notice:</strong><br />Moving the sliders or arming your craft with the transmitter will cause the motors to <strong>spin up</strong>.<br />In order to prevent injury <strong class=\"message-negative\">remove ALL propellers</strong> before using this feature.<br />Enabling motor test mode will also temporarily disable Runaway Takeoff Prevention, to stop it from disarming the craft when bench testing without propellers.<br />"
     },
     "motorsEnableControl": {
-        "message": "I understand the risks, propellers are removed - Enable motor control and arming."
+        "message": "<strong>I understand the risks</strong>, the propellers are removed - enable motor control and arming, and disable Runaway Takeoff Prevention."
     },
 
     "sensorsInfo": {

src/js/fc.js

@@ -81,6 +81,8 @@ var FC = {
             rateProfile:                      0,
             boardType:                        0,
             armingDisableFlags:               0,
+            armingDisabled:                   false,
+            runawayTakeoffPreventionDisabled: false,
         };
 
         BF_CONFIG = {

src/js/msp/MSPHelper.js

@@ -1525,12 +1525,21 @@ MspHelper.prototype.crunch = function(code) {
             break;
         case MSPCodes.MSP_ARMING_DISABLE:
             var value;
-            if (CONFIG.arming_disabled) {
+            if (CONFIG.armingDisabled) {
                 value = 1;
             } else {
                 value = 0;
             }
             buffer.push8(value);
+
+            if (CONFIG.runawayTakeoffPreventionDisabled) {
+                value = 1;
+            } else {
+                value = 0;
+            }
+            // This will be ignored if `armingDisabled` is true
+            buffer.push8(value);
+
             break;
         default:
             return false;
@@ -2022,13 +2031,19 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) {
     }
 }
 
-MspHelper.prototype.setArmingEnabled = function(doEnable, onCompleteCallback) {
+MspHelper.prototype.setArmingEnabled = function(doEnable, disableRunawayTakeoffPrevention, onCompleteCallback) {
-    if (semver.gte(CONFIG.apiVersion, "1.37.0") && (doEnable === CONFIG.arming_disabled)) {
+    if (semver.gte(CONFIG.apiVersion, "1.37.0") && (CONFIG.armingDisabled === doEnable || CONFIG.runawayTakeoffPreventionDisabled !== disableRunawayTakeoffPrevention)) {
-        CONFIG.arming_disabled = !doEnable;
+        CONFIG.armingDisabled = !doEnable;
+        CONFIG.runawayTakeoffPreventionDisabled = disableRunawayTakeoffPrevention;
 
         MSP.send_message(MSPCodes.MSP_ARMING_DISABLE, mspHelper.crunch(MSPCodes.MSP_ARMING_DISABLE), false, function () {
             if (doEnable) {
                 GUI.log(i18n.getMessage('armingEnabled'));
+                if (disableRunawayTakeoffPrevention) {
+                    GUI.log(i18n.getMessage('runawayTakeoffPreventionDisabled'));
+                } else {
+                    GUI.log(i18n.getMessage('runawayTakeoffPreventionEnabled'));
+                }
             } else {
                 GUI.log(i18n.getMessage('armingDisabled'));
             }

src/js/serial.js

@@ -119,7 +119,8 @@ var serial = {
                             
                         case 'break': // This seems to be the error that is thrown under NW.js in Windows when the device reboots after typing 'exit' in CLI
                         case 'device_lost':
-                            CONFIG.arming_disabled = false;
+                            CONFIG.armingDisabled = false;
+                            CONFIG.runawayTakeoffPreventionDisabled = false;
 
                             if (GUI.connected_to || GUI.connecting_to) {
                                 $('a.connect').click();

src/js/serial_backend.js

@@ -72,7 +72,7 @@ function initializeSerialBackend() {
                         finishClose(toggleStatus);
                     }
 
-                    mspHelper.setArmingEnabled(true, onFinishCallback);
+                    mspHelper.setArmingEnabled(true, false, onFinishCallback);
                 }
             }
        }
@@ -227,8 +227,8 @@ function onOpen(openInfo) {
                                             MSP.send_message(MSPCodes.MSP_NAME, false, false, function () {
                                                 GUI.log(i18n.getMessage('craftNameReceived', [CONFIG.name]));
 
-                                                CONFIG.arming_disabled = false;
+                                                CONFIG.armingDisabled = false;
-                                                mspHelper.setArmingEnabled(false, finishOpen);
+                                                mspHelper.setArmingEnabled(false, false, finishOpen);
                                             });
                                         } else {
                                             finishOpen();

src/js/tabs/motors.js

@@ -485,7 +485,7 @@ TABS.motors.initialize = function (callback) {
 
             $('div.sliders input').trigger('input');
 
-            mspHelper.setArmingEnabled(enabled);
+            mspHelper.setArmingEnabled(enabled, enabled);
         }).change();
 
         var buffering_set_motor = [],