AIR MODE Optimalisations // Disable retarded arm

enable level modes

src/main/config/config.c

@@ -445,7 +445,7 @@ static void resetConf(void)
 
     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 
-    masterConfig.retarded_arm = 0;
+    masterConfig.retarded_arm = 0;  // TODO - Cleanup retarded arm support
     masterConfig.disarm_kill_switch = 1;
     masterConfig.auto_disarm_delay = 5;
     masterConfig.small_angle = 25;

src/main/flight/mixer.c

@@ -801,7 +801,7 @@ void mixTable(void)
         }
 
         // adjust feedback to scale PID error inputs to our limitations.
-        rpy_limiting = constrainf(((rpy_limiting * th_range) / rpy_range), 0.1f, 1.0f);
+        rpy_limiting = constrainf(((rpy_limiting * th_range) / rpy_range), 0.2f, 1.0f);
     }
 
     if (ARMING_FLAG(ARMED)) {
@@ -857,8 +857,6 @@ void mixTable(void)
                     if (((rcData[THROTTLE]) < rxConfig->mincheck) && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) {
                         if (feature(FEATURE_MOTOR_STOP)) {
                             motor[i] = escAndServoConfig->mincommand;
-                        } else {
-                            motor[i] = escAndServoConfig->minthrottle;
                         }
                     }
                 }

src/main/flight/pid.c

@@ -161,6 +161,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
             }
         }
 
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+            AngleRate = AngleRate * rpy_limiting;
+        }
+
         gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps
 
         // --------low-level gyro-based PID. ----------
@@ -169,10 +173,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // multiplication of rcCommand corresponds to changing the sticks scaling here
         RateError = AngleRate - gyroRate;
 
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            RateError = RateError * rpy_limiting;
-        }
-
         // -----calculate P component
         PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
 
@@ -283,16 +283,16 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
             }
         }
 
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+            AngleRateTmp = AngleRateTmp * rpy_limiting;
+        }
+
         // --------low-level gyro-based PID. ----------
         // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
         // -----calculate scaled error.AngleRates
         // multiplication of rcCommand corresponds to changing the sticks scaling here
         RateError = AngleRateTmp - (gyroADC[axis] / 4);
 
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            RateError = RateError * rpy_limiting;
-        }
-
         // -----calculate P component
         PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
 

src/main/io/rc_controls.h

@@ -48,7 +48,7 @@ typedef enum {
     BOXSERVO3,
     BOXBLACKBOX,
     BOXFAILSAFE,
-	BOXAIRMODE,
+    BOXAIRMODE,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 
@@ -126,6 +126,8 @@ typedef struct modeActivationCondition_s {
 
 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 
+#define SHOULD_RESET_ERRORS ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED)) || failsafeIsActive())
+
 typedef struct controlRateConfig_s {
     uint8_t rcRate8;
     uint8_t rcExpo8;

src/main/io/serial_cli.c

@@ -472,7 +472,6 @@ const clivalue_t valueTable[] = {
     { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 50,  32000 } },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, .config.minmax = { 50,  498 } },
 
-    { "retarded_arm",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.retarded_arm, .config.lookup = { TABLE_OFF_ON } },
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
     { "auto_disarm_delay",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.auto_disarm_delay, .config.minmax = { 0,  60 } },
     { "small_angle",                VAR_UINT8  | MASTER_VALUE,  &masterConfig.small_angle, .config.minmax = { 0,  180 } },

src/main/mw.c

@@ -565,7 +565,7 @@ void processRx(void)
 
     throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
 
-    if ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED))) {
+    if (SHOULD_RESET_ERRORS)  {
         pidResetErrorAngle();
         pidResetErrorGyro();
     }