Add option for gyro calibration on first arm // Remove Retarded Arm

src/main/config/config.c

@@ -466,7 +466,7 @@ static void resetConf(void)
 
     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 
-    masterConfig.retarded_arm = 0;  // TODO - Cleanup retarded arm support
+    masterConfig.gyro_cal_on_first_arm = 0;  // TODO - Cleanup retarded arm support
     masterConfig.disarm_kill_switch = 1;
     masterConfig.auto_disarm_delay = 5;
     masterConfig.small_angle = 25;

src/main/config/config_master.h

@@ -99,7 +99,7 @@ typedef struct master_t {
     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
 
 
-    uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
+    uint8_t gyro_cal_on_first_arm;          // allow disarm/arm on throttle down + roll left/right
     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
     uint8_t small_angle;

src/main/io/rc_controls.c

@@ -130,7 +130,7 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
     return NOT_CENTERED;
 }
 
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
 {
     static uint8_t rcDelayCommand;      // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
     static uint8_t rcSticks;            // this hold sticks position for command combos
@@ -195,15 +195,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
                 rcDelayCommand = 0;              // reset so disarm tone will repeat
             }
         }
-            // Disarm on roll (only when retarded_arm is enabled)
-        if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO)) {
-            if (ARMING_FLAG(ARMED))
-                mwDisarm();
-            else {
-                beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
-                rcDelayCommand = 0;              // reset so disarm tone will repeat
-            }
-        }
     }
 
     if (ARMING_FLAG(ARMED)) {
@@ -261,12 +252,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
             mwArm();
             return;
         }
-
-        if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
-            // Arm via ROLL
-            mwArm();
-            return;
-        }
     }
 
     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {

src/main/io/rc_controls.h

@@ -159,7 +159,7 @@ bool areUsingSticksToArm(void);
 
 bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
 

src/main/io/serial_cli.c

@@ -573,6 +573,7 @@ const clivalue_t valueTable[] = {
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, .config.minmax = { 50,  498 } },
 
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
+    { "gyro_cal_on_first_arm",      VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gyro_cal_on_first_arm, .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

@@ -357,6 +357,10 @@ void releaseSharedTelemetryPorts(void) {
 
 void mwArm(void)
 {
+	if (!ARMING_FLAG(WAS_EVER_ARMED) && masterConfig.gyro_cal_on_first_arm) {
+	    gyroSetCalibrationCycles(calculateCalibratingCycles());
+	}
+
     if (ARMING_FLAG(OK_TO_ARM)) {
         if (ARMING_FLAG(ARMED)) {
             return;
@@ -545,7 +549,7 @@ void processRx(void)
         }
     }
 
-    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
+    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
 
     if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
         updateInflightCalibrationState();