Fix 3D arming checks for BOX3DDISABLE

When FEATURE_3D is on and BOX3DDISABLE is on then the normal throttle
arming check is performed.

When FEATURE_3D is on and BOX3DDISABLE is off then the reduced 3D
throttle arming check is performed.

src/main/fc/fc_core.c

@@ -215,10 +215,13 @@ void updateArmingStatus(void)
 
         if (!isUsingSticksForArming()) {
           /* Ignore ARMING_DISABLED_CALIBRATING if we are going to calibrate gyro on first arm */
-          bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
+          bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm
+                         && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
 
           /* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
-          bool ignoreThrottle = feature(FEATURE_3D) && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
+          bool ignoreThrottle = feature(FEATURE_3D)
+                             && !IS_RC_MODE_ACTIVE(BOX3DDISABLE)
+                             && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
 
           // If arming is disabled and the ARM switch is on
           if (isArmingDisabled()

src/main/fc/rc_controls.c

@@ -110,15 +110,14 @@ throttleStatus_e calculateThrottleStatus(void)
 {
     if (feature(FEATURE_3D)) {
         if (IS_RC_MODE_ACTIVE(BOX3DDISABLE) || isModeActivationConditionPresent(BOX3DONASWITCH)) {
-            if (rcData[THROTTLE] < rxConfig()->mincheck)
+            if (rcData[THROTTLE] < rxConfig()->mincheck) {
                 return THROTTLE_LOW;
+            }
         } else if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle))) {
             return THROTTLE_LOW;
         }
-    } else {
+    } else if (rcData[THROTTLE] < rxConfig()->mincheck) {
-        if (rcData[THROTTLE] < rxConfig()->mincheck) {
+        return THROTTLE_LOW;
-            return THROTTLE_LOW;
-            }
     }
 
     return THROTTLE_HIGH;

src/test/unit/arming_prevention_unittest.cc

@@ -161,6 +161,7 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
     EXPECT_EQ(0, getArmingDisableFlags());
     EXPECT_FALSE(isArmingDisabled());
 }
+
 TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
 {
     // given
@@ -347,7 +348,7 @@ TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
     EXPECT_EQ(0, getArmingDisableFlags());
 }
 
-TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadbandFromNegativeSide)
+TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadband)
 {
     // given
     simulationFeatureFlags = FEATURE_3D; // Using 3D mode
@@ -413,6 +414,110 @@ TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadbandFromNe
     EXPECT_EQ(0, getArmingDisableFlags());
 }
 
+TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionApplies)
+{
+    // given
+    simulationFeatureFlags = FEATURE_3D; // Using 3D mode
+    simulationTime = 30e6; // 30 seconds after boot
+    gyroCalibDone = true;
+
+    // and
+    modeActivationConditionsMutable(0)->auxChannelIndex = 0;
+    modeActivationConditionsMutable(0)->modeId = BOXARM;
+    modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
+    modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
+    modeActivationConditionsMutable(1)->auxChannelIndex = 1;
+    modeActivationConditionsMutable(1)->modeId = BOX3DDISABLE;
+    modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
+    modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
+    useRcControlsConfig(NULL);
+
+    // and
+    rxConfigMutable()->mincheck = 1050;
+    rxConfigMutable()->midrc = 1500;
+    flight3DConfigMutable()->deadband3d_throttle = 5;
+
+    // and
+    // safe throttle value for 3D mode
+    rcData[THROTTLE] = 1500;
+    ENABLE_STATE(SMALL_ANGLE);
+
+    // and
+    // RX has no link to radio
+    simulationHaveRx = false;
+
+    // and
+    // arm channel has a safe default value
+    rcData[4] = 1100;
+
+    // and
+    // disable 3D mode is off (i.e. 3D mode is on)
+    rcData[5] = 1100;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    // ok to arm in 3D mode
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_FALSE(isArmingDisabled());
+    EXPECT_EQ(0, getArmingDisableFlags());
+
+    // given
+    // disable 3D mode
+    rcData[5] = 1800;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    // ok to arm in 3D mode
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_TRUE(isArmingDisabled());
+    EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
+
+    // given
+    // attempt to arm
+    rcData[4] = 1800;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_TRUE(isArmingDisabled());
+    EXPECT_EQ(ARMING_DISABLED_THROTTLE | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
+
+    // given
+    // throttle moved low
+    rcData[THROTTLE] = 1000;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_TRUE(isArmingDisabled());
+    EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
+
+    // given
+    // arm switch turned off
+    rcData[4] = 1000;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_FALSE(isArmingDisabled());
+    EXPECT_EQ(0, getArmingDisableFlags());
+}
+
 // STUBS
 extern "C" {
     uint32_t micros(void) { return simulationTime; }