From 4a2ef89ea81160849554aa5a443c79b147ef7a40 Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Fri, 21 Jul 2017 20:38:22 +0900
Subject: [PATCH] Revert left stick constraints and introduce context

---
 src/main/cms/cms.c                    | 12 ++++++------
 src/main/cms/cms.h                    |  2 ++
 src/main/fc/rc_controls.c             |  8 ++++++++
 src/test/unit/rc_controls_unittest.cc |  1 +
 4 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c
index 00fe8d2d3b..6590dfe880 100644
--- a/src/main/cms/cms.c
+++ b/src/main/cms/cms.c
@@ -130,7 +130,7 @@ static displayPort_t *cmsDisplayPortSelectNext(void)
 #define RIGHT_MENU_COLUMN(p) ((p)->cols - 8)
 #define MAX_MENU_ITEMS(p)    ((p)->rows - 2)
 
-static bool cmsInMenu = false;
+bool cmsInMenu = false;
 
 typedef struct cmsCtx_s {
     const CMS_Menu *menu;         // menu for this context
@@ -913,19 +913,19 @@ void cmsUpdate(uint32_t currentTimeUs)
         if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
             key = KEY_MENU;
         }
-        else if (IS_MID(THROTTLE) && IS_MID(YAW) && IS_MID(ROLL) && IS_HI(PITCH)) {
+        else if (IS_HI(PITCH)) {
             key = KEY_UP;
         }
-        else if (IS_MID(THROTTLE) && IS_MID(YAW) && IS_MID(ROLL) && IS_LO(PITCH)) {
+        else if (IS_LO(PITCH)) {
             key = KEY_DOWN;
         }
-        else if (IS_MID(THROTTLE) && IS_MID(YAW) && IS_LO(ROLL) && IS_MID(PITCH)) {
+        else if (IS_LO(ROLL)) {
             key = KEY_LEFT;
         }
-        else if (IS_MID(THROTTLE) && IS_MID(YAW) && IS_HI(ROLL) && IS_MID(PITCH)) {
+        else if (IS_HI(ROLL)) {
             key = KEY_RIGHT;
         }
-        else if ((IS_HI(YAW) || IS_LO(YAW)) && IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH))
+        else if (IS_HI(YAW) || IS_LO(YAW))
         {
             key = KEY_ESC;
         }
diff --git a/src/main/cms/cms.h b/src/main/cms/cms.h
index 6667c3d3cb..aeafdda0e7 100644
--- a/src/main/cms/cms.h
+++ b/src/main/cms/cms.h
@@ -4,6 +4,8 @@
 
 #include "common/time.h"
 
+extern bool cmsInMenu;
+
 // Device management
 bool cmsDisplayPortRegister(displayPort_t *pDisplay);
 
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 5a7bec6ab1..72f8a6de81 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -34,6 +34,8 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
+#include "cms/cms.h"
+
 #include "drivers/camera_control.h"
 
 #include "fc/config.h"
@@ -124,6 +126,12 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
     uint8_t stTmp = 0;
     int i;
 
+#ifdef CMS
+    if (cmsInMenu) {
+        return;
+    }
+#endif
+
     // ------------------ STICKS COMMAND HANDLER --------------------
     // checking sticks positions
     for (i = 0; i < 4; i++) {
diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc
index edd846db68..1e85421cdc 100644
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -695,6 +695,7 @@ void baroSetCalibrationCycles(uint16_t) {}
 
 void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {}
 
+bool cmsInMenu = false;
 uint8_t armingFlags = 0;
 int16_t heading;
 uint8_t stateFlags = 0;