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Runaway Takeoff Prevention - temporarily disable during configurator bench testing
Temporarily disables Runaway Takeoff Prevention when the `ARMING_DISABLED_MSP` flag is cleared in the configurator by switching the safety switch on the motors tab. Allows bench testing the motors and flight controller response without triggering a runaway takeoff auto-disarm. Requires coordination with the configurator to pass an extra runaway takeoff temporary disable flag with the MSP_ARMING_DISABLE msp command.
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3 changed files with 23 additions and 0 deletions
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@ -1777,13 +1777,23 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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case MSP_SET_ARMING_DISABLED:
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{
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const uint8_t command = sbufReadU8(src);
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uint8_t disableRunawayTakeoff = 0;
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if (sbufBytesRemaining(src)) {
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disableRunawayTakeoff = sbufReadU8(src);
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}
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if (command) {
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setArmingDisabled(ARMING_DISABLED_MSP);
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if (ARMING_FLAG(ARMED)) {
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disarm();
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}
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#ifdef USE_RUNAWAY_TAKEOFF
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runawayTakeoffTemporaryDisable(false);
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#endif
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} else {
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unsetArmingDisabled(ARMING_DISABLED_MSP);
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#ifdef USE_RUNAWAY_TAKEOFF
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runawayTakeoffTemporaryDisable(disableRunawayTakeoff);
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#endif
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}
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}
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break;
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