From 9cf90fa23073a9102d2b93747b09063398b5924c Mon Sep 17 00:00:00 2001
From: treymarc <trey.marc@gmail.com>
Date: Wed, 2 Jul 2014 12:08:37 +0000
Subject: [PATCH] smallAngle configurable, user can arm/disarm with swith in
 any orientation Conflicts:

	src/cli.c
	src/config.c
	src/imu.c
	src/mw.c
	src/mw.h
---
 src/main/config/config.c  |  4 +++-
 src/main/flight/imu.c     |  2 +-
 src/main/flight/imu.h     |  1 +
 src/main/io/rc_controls.c | 10 +++++++---
 src/main/io/serial_cli.c  |  1 +
 5 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index e1ba6588cb..b7f58c957b 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -79,7 +79,7 @@ static uint32_t flashWriteAddress = (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE *
 
master_t masterConfig;      // master config struct with data independent from profiles
 profile_t currentProfile;   // profile config struct
 
-static const uint8_t EEPROM_CONF_VERSION = 72;
+static const uint8_t EEPROM_CONF_VERSION = 73;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -250,6 +250,8 @@ static void resetConf(void)
     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 
     masterConfig.retarded_arm = 0;              // disable arm/disarm on roll left/right
+    masterConfig.small_angle = 25;
+
     masterConfig.airplaneConfig.flaps_speed = 0;
     masterConfig.fixedwing_althold_dir = 1;
 
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 28a6849cc5..95b540e283 100755
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -80,7 +80,7 @@ static void getEstimatedAttitude(void);
 
 void imuInit()
 {
-    smallAngle = lrintf(acc_1G * cosf(RAD * 25.0f));
+    smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle));
     accVelScale = 9.80665f / acc_1G / 10000.0f;
     gyroScaleRad = gyro.scale * (M_PI / 180.0f) * 0.000001f;
 }
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index d7c6707bcf..9b02a52149 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -26,6 +26,7 @@ typedef struct imuRuntimeConfig_s {
     uint8_t acc_unarmedcal;
     float gyro_cmpf_factor;
     float gyro_cmpfm_factor;
+    int16_t small_angle;
 } imuRuntimeConfig_t;
 
 void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband);
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 804ce2faea..514107ef4f 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -84,11 +84,15 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
 
     // perform actions
     if (throttleStatus == THROTTLE_LOW) {
-        if (activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
+        if (activate[BOXARM] > 0) { // Arming via ARM BOX
             if (rcOptions[BOXARM] && f.OK_TO_ARM)
                 mwArm();
-            else if (f.ARMED)
-                mwDisarm();
+        }
+    }
+
+    if (activate[BOXARM] > 0) { // Disarming via ARM BOX
+        if (!rcOptions[BOXARM] && f.ARMED) {
+            mwDisarm();
         }
     }
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index c20ed4906e..5a9236fa10 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -187,6 +187,7 @@ const clivalue_t valueTable[] = {
     { "servo_pwm_rate", VAR_UINT16, &masterConfig.servo_pwm_rate, 50, 498 },
 
     { "retarded_arm", VAR_UINT8, &masterConfig.retarded_arm, 0, 1 },
+    { "small_angle", VAR_UINT8, &masterConfig.small_angle, 0, 90 },
 
     { "flaps_speed", VAR_UINT8, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },