Merge remote-tracking branch 'upstream/master'

src/main/mw.c

@@ -92,6 +92,7 @@ uint16_t cycleTime = 0;         // this is the number in micro second to achieve
 int16_t headFreeModeHold;
 
 int16_t telemTemperature1;      // gyro sensor temperature
+static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
 extern uint8_t dynP8[3], dynI8[3], dynD8[3];
 extern failsafe_t *failsafe;
@@ -346,6 +347,8 @@ void mwArm(void)
                 startBlackbox();
             }
 #endif
+            disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;   // start disarm timeout, will be extended when throttle is nonzero
+
             return;
         }
     }
@@ -513,6 +516,21 @@ void processRx(void)
         resetErrorAngle();
         resetErrorGyro();
     }
+    // When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
+    // mixTable constrains motor commands, so checking  throttleStatus is enough
+    if (
+        ARMING_FLAG(ARMED)
+        && feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
+        && masterConfig.auto_disarm_delay != 0
+        && isUsingSticksForArming()
+    ) {
+        if (throttleStatus == THROTTLE_LOW) {
+            if ((int32_t)(disarmAt - millis()) < 0)  // delay is over
+                mwDisarm();
+        } else {
+            disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;   // extend delay
+        }
+    }
 
     processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);