stop activation until throttle raised, but not require airmode

use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed

src/main/fc/core.c

@@ -770,7 +770,6 @@ uint8_t calculateThrottlePercentAbs(void)
 }
 
 static bool throttleRaised = false;
-
 bool wasThrottleRaised(void)
 {
     return throttleRaised;
@@ -1053,7 +1052,9 @@ void processRxModes(timeUs_t currentTimeUs)
         // and we have Acc for self-levelling
         && sensors(SENSOR_ACC)
         // and we have altitude data
-        && isAltitudeAvailable()){
+        && isAltitudeAvailable()
+        // prevent activation until after takeoff
+        && wasThrottleRaised()) {
         if (!FLIGHT_MODE(POS_HOLD_MODE)) {
             ENABLE_FLIGHT_MODE(POS_HOLD_MODE);
         }

src/main/flight/pid.c

@@ -930,10 +930,8 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
     if (wasThrottleRaised()
         // and, either sticks are centred and throttle zeroed,
         && ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f)
-            // we could test here for stage 2 failsafe (including both landing or GPS Rescue)
-            // this may permit removing the GPS Rescue disarm method altogether
 #ifdef USE_ALT_HOLD_MODE
-            // or in altitude hold mode, including failsafe landing mode, indirectly
+            // or, in altitude hold mode, where throttle can be non-zero
             || FLIGHT_MODE(ALT_HOLD_MODE)
 #endif
         )) {

src/test/unit/pid_unittest.cc

@@ -93,7 +93,7 @@ extern "C" {
 
     float getMotorMixRange(void) { return simulatedMotorMixRange; }
     float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
-    bool wasThrottleRaised(void) { return simulatedThrottleRaised; }
+    bool wasThrottleRaised(void) { return simulatedAirmodeEnabled; }
     float getRcDeflectionAbs(int axis) { return fabsf(simulatedRcDeflection[axis]); }
 
     // used by auto-disarm code