Replace profile.activate and rcOptions with

profile.modeActivationCondition and rcModeActivationMask.

Implementation of using and setting modeActivationConditions is missing.

src/main/config/config_profile.h

@@ -42,7 +42,7 @@ typedef struct profile_s {
 
     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
 
-    uint32_t activate[CHECKBOX_ITEM_COUNT]; // activate switches, bitmask, 3 bits per channel, lower 16 bits aux1-4, upper 16 bits aux 5-8
+    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
 
     // Radio/ESC-related configuration
     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.

src/main/flight/altitudehold.c

@@ -140,7 +140,7 @@ void applyAltHold(void)
 void updateAltHoldState(void)
 {
     // Baro alt hold activate
-    if (!rcOptions[BOXBARO]) {
+    if (!IS_RC_MODE_ACTIVE(BOXBARO)) {
         DISABLE_FLIGHT_MODE(BARO_MODE);
         return;
     }
@@ -157,7 +157,7 @@ void updateAltHoldState(void)
 void updateSonarAltHoldState(void)
 {
     // Sonar alt hold activate
-    if (!rcOptions[BOXSONAR]) {
+    if (!IS_RC_MODE_ACTIVE(BOXSONAR)) {
         DISABLE_FLIGHT_MODE(SONAR_MODE);
         return;
     }

src/main/flight/mixer.c

@@ -532,7 +532,7 @@ void mixTable(void)
         servo[0] = determineServoMiddleOrForwardFromChannel(0);
         servo[1] = determineServoMiddleOrForwardFromChannel(1);
 
-        if (rcOptions[BOXCAMSTAB]) {
+        if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
             if (gimbalConfig->gimbal_flags & GIMBAL_MIXTILT) {
                 servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
                 servo[1] += (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;

src/main/flight/navigation.c

@@ -652,7 +652,7 @@ void updateGpsWaypointsAndMode(void)
 
     if (STATE(GPS_FIX) && GPS_numSat >= 5) {
         // if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
-        if (rcOptions[BOXGPSHOME]) {
+        if (IS_RC_MODE_ACTIVE(BOXGPSHOME)) {
             if (!FLIGHT_MODE(GPS_HOME_MODE)) {
                 ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
                 DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
@@ -663,7 +663,7 @@ void updateGpsWaypointsAndMode(void)
         } else {
             DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
 
-            if (rcOptions[BOXGPSHOLD] && areSticksInApModePosition(gpsProfile->ap_mode)) {
+            if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile->ap_mode)) {
                 if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
                     ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
                     GPSNavReset = 0;

src/main/io/beeper.c

@@ -68,7 +68,7 @@ void beepcodeUpdateState(bool warn_vbat)
     static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
 
     //=====================  BeeperOn via rcOptions =====================
-    if (rcOptions[BOXBEEPERON]) {       // unconditional beeper on via AUXn switch
+    if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {       // unconditional beeper on via AUXn switch
         beeperOnBox = 1;
     } else {
         beeperOnBox = 0;
@@ -95,7 +95,7 @@ void beepcodeUpdateState(bool warn_vbat)
 #ifdef GPS
     //===================== GPS fix notification handling =====================
     if (sensors(SENSOR_GPS)) {
-        if ((rcOptions[BOXGPSHOME] || rcOptions[BOXGPSHOLD]) && !STATE(GPS_FIX)) {     // if no fix and gps funtion is activated: do warning beeps
+        if ((IS_RC_MODE_ACTIVE(BOXGPSHOME) || IS_RC_MODE_ACTIVE(BOXGPSHOLD)) && !STATE(GPS_FIX)) {     // if no fix and gps funtion is activated: do warning beeps
             warn_noGPSfix = 1;
         } else {
             warn_noGPSfix = 0;

src/main/io/rc_controls.c

@@ -43,14 +43,7 @@
 
 int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
 
-// each entry in the array is a bitmask, 3 bits per aux channel (only aux 1 to 4), aux1 is first, each bit corresponds to an rc channel reading
+uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
-// bit 1 - stick LOW
-// bit 2 - stick MIDDLE
-// bit 3 - stick HIGH
-// an option is enabled when ANY channel has an appropriate reading corresponding to the bit.
-// an option is disabled when NO channel has an appropriate reading corresponding to the bit.
-// example: 110000000001 - option is only enabled when AUX1 is LOW or AUX4 is MEDIUM or HIGH.
-uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
 
 bool areSticksInApModePosition(uint16_t ap_mode)
 {
@@ -67,7 +60,9 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
     return THROTTLE_HIGH;
 }
 
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm, bool disarm_kill_switch)
+
+
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, modeActivationCondition_t *modeActivationConditions, bool retarded_arm, 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
@@ -90,10 +85,12 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
         rcDelayCommand = 0;
     rcSticks = stTmp;
 
-    // perform actions
+    bool isUsingSticksToArm = true; // FIXME calculate from modeActivationConditions // FIXME this calculation only needs to be done after loading a profile
-    if (activate[BOXARM] > 0) {
 
-        if (rcOptions[BOXARM]) {
+    // perform actions
+    if (!isUsingSticksToArm) {
+
+        if (IS_RC_MODE_ACTIVE(BOXARM)) {
             // Arming via ARM BOX
             if (throttleStatus == THROTTLE_LOW) {
                 if (ARMING_FLAG(OK_TO_ARM)) {
@@ -119,14 +116,15 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
     if (ARMING_FLAG(ARMED)) {
         // actions during armed
 
-        // Disarm on throttle down + yaw
+        if (isUsingSticksToArm) {
-        if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
+            // Disarm on throttle down + yaw
-            mwDisarm();
+            if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE)
-
+                mwDisarm();
-        // Disarm on roll (only when retarded_arm is enabled)
-        if (retarded_arm && activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
-            mwDisarm();
 
+            // Disarm on roll (only when retarded_arm is enabled)
+            if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
+                mwDisarm();
+        }
         return;
     }
 
@@ -172,16 +170,19 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
         return;
     }
 
-    if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE)) {
+    if (isUsingSticksToArm) {
-        // Arm via YAW
-        mwArm();
-        return;
-    }
 
-    if (retarded_arm && activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
+        if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
-        // Arm via ROLL
+            // Arm via YAW
-        mwArm();
+            mwArm();
-        return;
+            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) {
@@ -226,40 +227,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
 
 #define MAX_AUX_STATE_CHANNELS 8
 
-void updateRcOptions(uint32_t *activate)
+void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
 {
-    // auxState is a bitmask, 3 bits per channel.
+    rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions
-    // lower 16 bits contain aux 4 to 1 (msb to lsb)
-    // upper 16 bits contain aux 8 to 5 (msb to lsb)
-    //
-    // the three bits are as follows:
-    // bit 1 is SET when the stick is less than 1300
-    // bit 2 is SET when the stick is between 1300 and 1700
-    // bit 3 is SET when the stick is above 1700
-
-    // if the value is 1300 or 1700 NONE of the three bits are set.
-
-    int i;
-    uint32_t auxState = 0;
-    uint8_t shift = 0;
-    int8_t chunkOffset = 0;
-
-    for (i = 0; i < rxRuntimeConfig.auxChannelCount && i < MAX_AUX_STATE_CHANNELS; i++) {
-        if (i > 0 && i % 4 == 0) {
-            chunkOffset -= 4;
-            shift += 16;
-        }
-
-        uint8_t bitIndex = 3 * (i + chunkOffset);
-
-        uint32_t temp =
-                (rcData[AUX1 + i] < 1300) << bitIndex |
-                (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (bitIndex + 1) |
-                (rcData[AUX1 + i] > 1700) << (bitIndex + 2);
-
-        auxState |= temp << shift;
-    }
-
-    for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
-        rcOptions[i] = (auxState & activate[i]) > 0;
 }

src/main/io/rc_controls.h

@@ -44,7 +44,9 @@ typedef enum {
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 
-extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
+extern uint32_t rcModeActivationMask;
+
+#define IS_RC_MODE_ACTIVE(modeId) ((1 << modeId) & rcModeActivationMask)
 
 typedef enum rc_alias {
     ROLL = 0,
@@ -79,6 +81,33 @@ typedef enum {
 #define THR_CE (3 << (2 * THROTTLE))
 #define THR_HI (2 << (2 * THROTTLE))
 
+#define MAX_MODE_ACTIVATION_CONDITION_COUNT 40
+// 40 is enough for 1 mode for each position of 11 * 3 position switches and a 6 pos switch.
+// however, that is unlikely because you don't define the 'off' positions, so for a 3 position
+// switch it's normal that only 2 values would be configured.
+// this leaves plenty of 'slots' free for cases where you enable multiple modes for a switch
+// position (like gps rth + horizon + baro + beeper)
+
+
+#define MODE_STEP_TO_CHANNEL_VALUE(step) (900 + 25 * step)
+#define CHANNEL_VALUE_TO_STEP(channelValue) (constrain(channelValue, 900, 2100) - 900 / 25)
+
+typedef struct modeActivationCondition_s {
+    boxId_e modeId;
+    uint8_t auxChannelIndex;
+
+    // steps are 25 apart
+    // a value of 0 corresponds to a channel value of 900 or less
+    // a value of 47 corresponds to a channel value of 2100 or more
+    // 48 steps between 900 and 1200
+    uint8_t rangeStartStep;
+    uint8_t rangeEndStep;
+} modeActivationCondition_t;
+
+// sizeof(modeActivationCondition_t) * MAX_MODE_ACTIVATION_COUNT  = 4 * 40 = 160 bytes
+// sizeof(uint32_t) * CHECKBOX_ITEM_COUNT = 4 * 21 = 84
+
+
 typedef struct controlRateConfig_s {
     uint8_t rcRate8;
     uint8_t rcExpo8;
@@ -92,8 +121,8 @@ extern int16_t rcCommand[4];
 
 bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm, bool disarm_kill_switch);
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, modeActivationCondition_t *modeActivationConditions, bool retarded_arm, bool disarm_kill_switch);
 
 
-void updateRcOptions(uint32_t *activate);
+void updateRcOptions(modeActivationCondition_t *modeActivationConditions);
 

src/main/io/serial_cli.c

@@ -139,7 +139,7 @@ typedef struct {
 
 // should be sorted a..z for bsearch()
 const clicmd_t cmdTable[] = {
-    { "aux", "feature_name auxflag or blank for list", cliAux },
+    { "aux", "show/set aux settings", cliAux },
     { "cmix", "design custom mixer", cliCMix },
 #ifdef LED_STRIP
     { "color", "configure colors", cliColor },
@@ -396,24 +396,31 @@ static int cliCompare(const void *a, const void *b)
 
 static void cliAux(char *cmdline)
 {
-    int i, val = 0;
+    int i = 0;
     uint8_t len;
     char *ptr;
 
     len = strlen(cmdline);
     if (len == 0) {
         // print out aux channel settings
-        for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
+        for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
-            printf("aux %u %u\r\n", i, currentProfile->activate[i]);
+            modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
+            printf("aux %u %u\r\n",
+                i,
+                mac->modeId,
+                mac->auxChannelIndex,
+                MODE_STEP_TO_CHANNEL_VALUE(mac->rangeStartStep),
+                MODE_STEP_TO_CHANNEL_VALUE(mac->rangeEndStep)
+            );
+        }
     } else {
         ptr = cmdline;
         i = atoi(ptr);
-        if (i < CHECKBOX_ITEM_COUNT) {
+        if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
             ptr = strchr(cmdline, ' ');
-            val = atoi(ptr);
+            // FIXME implement setting currentProfile->modeActivationConditions based on remaining string
-            currentProfile->activate[i] = val;
         } else {
-            printf("Invalid Feature index: must be < %u\r\n", CHECKBOX_ITEM_COUNT);
+            printf("index: must be < %u\r\n", MAX_MODE_ACTIVATION_CONDITION_COUNT);
         }
     }
 }

src/main/io/serial_msp.c

@@ -146,6 +146,7 @@ typedef struct box_e {
     const uint8_t permanentId;      //
 } box_t;
 
+// FIXME remove ;'s
 static const box_t const boxes[] = {
     { BOXARM, "ARM;", 0 },
     { BOXANGLE, "ANGLE;", 1 },
@@ -505,20 +506,20 @@ static bool processOutCommand(uint8_t cmdMSP)
             IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
             IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
             IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
-            rcOptions[BOXHEADADJ] << BOXHEADADJ |
+            IS_RC_MODE_ACTIVE(BOXHEADADJ) << BOXHEADADJ |
-            rcOptions[BOXCAMSTAB] << BOXCAMSTAB |
+            IS_RC_MODE_ACTIVE(BOXCAMSTAB) << BOXCAMSTAB |
-            rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
+            IS_RC_MODE_ACTIVE(BOXCAMTRIG) << BOXCAMTRIG |
             IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
             IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
             IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
-            rcOptions[BOXBEEPERON] << BOXBEEPERON |
+            IS_RC_MODE_ACTIVE(BOXBEEPERON) << BOXBEEPERON |
-            rcOptions[BOXLEDMAX] << BOXLEDMAX |
+            IS_RC_MODE_ACTIVE(BOXLEDMAX) << BOXLEDMAX |
-            rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
+            IS_RC_MODE_ACTIVE(BOXLLIGHTS) << BOXLLIGHTS |
-            rcOptions[BOXCALIB] << BOXCALIB |
+            IS_RC_MODE_ACTIVE(BOXCALIB) << BOXCALIB |
-            rcOptions[BOXGOV] << BOXGOV |
+            IS_RC_MODE_ACTIVE(BOXGOV) << BOXGOV |
-            rcOptions[BOXOSD] << BOXOSD |
+            IS_RC_MODE_ACTIVE(BOXOSD) << BOXOSD |
-            rcOptions[BOXTELEMETRY] << BOXTELEMETRY |
+            IS_RC_MODE_ACTIVE(BOXTELEMETRY) << BOXTELEMETRY |
-            rcOptions[BOXAUTOTUNE] << BOXAUTOTUNE |
+            IS_RC_MODE_ACTIVE(BOXAUTOTUNE) << BOXAUTOTUNE |
             IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
             IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM;
         for (i = 0; i < activeBoxIdCount; i++) {
@@ -632,6 +633,8 @@ static bool processOutCommand(uint8_t cmdMSP)
         headSerialReply(sizeof(pidnames) - 1);
         serializeNames(pidnames);
         break;
+    // FIXME provide backward compatible solution?  what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
+    /*
     case MSP_BOX:
         headSerialReply(4 * activeBoxIdCount);
         for (i = 0; i < activeBoxIdCount; i++)
@@ -639,6 +642,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         for (i = 0; i < activeBoxIdCount; i++)
             serialize16((currentProfile->activate[activeBoxIds[i]] >> 16) & ACTIVATE_MASK);
         break;
+    */
     case MSP_BOXNAMES:
         // headSerialReply(sizeof(boxnames) - 1);
         serializeBoxNamesReply();
@@ -803,12 +807,15 @@ static bool processInCommand(void)
             }
         }
         break;
+    // FIXME provide backward compatible solution?  what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
+    /*
     case MSP_SET_BOX:
         for (i = 0; i < activeBoxIdCount; i++)
             currentProfile->activate[activeBoxIds[i]] = read16() & ACTIVATE_MASK;
         for (i = 0; i < activeBoxIdCount; i++)
             currentProfile->activate[activeBoxIds[i]] |= (read16() & ACTIVATE_MASK) << 16;
         break;
+    */
     case MSP_SET_RC_TUNING:
         currentProfile->controlRateConfig.rcRate8 = read8();
         currentProfile->controlRateConfig.rcExpo8 = read8();

src/main/mw.c

@@ -111,7 +111,7 @@ void updateAutotuneState(void)
     static bool landedAfterAutoTuning = false;
     static bool autoTuneWasUsed = false;
 
-    if (rcOptions[BOXAUTOTUNE]) {
+    if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
         if (!FLIGHT_MODE(AUTOTUNE_MODE)) {
             if (ARMING_FLAG(ARMED)) {
                 if (isAutotuneIdle() || landedAfterAutoTuning) {
@@ -246,7 +246,7 @@ void annexCode(void)
     if (ARMING_FLAG(ARMED)) {
         LED0_ON;
     } else {
-        if (rcOptions[BOXARM] == 0) {
+        if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
             ENABLE_ARMING_FLAG(OK_TO_ARM);
         }
 
@@ -259,7 +259,7 @@ void annexCode(void)
             DISABLE_ARMING_FLAG(OK_TO_ARM);
         }
 
-        if (rcOptions[BOXAUTOTUNE]) {
+        if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
             DISABLE_ARMING_FLAG(OK_TO_ARM);
         }
 
@@ -342,11 +342,11 @@ void handleInflightCalibrationStickPosition(void)
 
 void updateInflightCalibrationState(void)
 {
-    if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !rcOptions[BOXARM]) {   // Copter is airborne and you are turning it off via boxarm : start measurement
+    if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) {   // Copter is airborne and you are turning it off via boxarm : start measurement
         InflightcalibratingA = 50;
         AccInflightCalibrationArmed = false;
     }
-    if (rcOptions[BOXCALIB]) {      // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
+    if (IS_RC_MODE_ACTIVE(BOXCALIB)) {      // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
         if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
             InflightcalibratingA = 50;
         AccInflightCalibrationActive = true;
@@ -466,7 +466,7 @@ void processRx(void)
 
     // in 3D mode, we need to be able to disarm by switch at any time
     if (feature(FEATURE_3D)) {
-        if (!rcOptions[BOXARM])
+        if (!IS_RC_MODE_ACTIVE(BOXARM))
             mwDisarm();
     }
 
@@ -488,17 +488,17 @@ void processRx(void)
         resetErrorGyro();
     }
 
-    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
+    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->modeActivationConditions, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
 
     if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
         updateInflightCalibrationState();
     }
 
-    updateRcOptions(currentProfile->activate);
+    updateRcOptions(currentProfile->modeActivationConditions);
 
     bool canUseHorizonMode = true;
 
-    if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
+    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
         // bumpless transfer to Level mode
     	canUseHorizonMode = false;
 
@@ -510,7 +510,7 @@ void processRx(void)
         DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
     }
 
-	if (rcOptions[BOXHORIZON] && canUseHorizonMode) {
+	if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
 
 		DISABLE_FLIGHT_MODE(ANGLE_MODE);
 
@@ -530,7 +530,7 @@ void processRx(void)
 
 #ifdef  MAG
     if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
-        if (rcOptions[BOXMAG]) {
+        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
             if (!FLIGHT_MODE(MAG_MODE)) {
                 ENABLE_FLIGHT_MODE(MAG_MODE);
                 magHold = heading;
@@ -538,14 +538,14 @@ void processRx(void)
         } else {
             DISABLE_FLIGHT_MODE(MAG_MODE);
         }
-        if (rcOptions[BOXHEADFREE]) {
+        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
             if (!FLIGHT_MODE(HEADFREE_MODE)) {
                 ENABLE_FLIGHT_MODE(HEADFREE_MODE);
             }
         } else {
             DISABLE_FLIGHT_MODE(HEADFREE_MODE);
         }
-        if (rcOptions[BOXHEADADJ]) {
+        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
             headFreeModeHold = heading; // acquire new heading
         }
     }
@@ -557,7 +557,7 @@ void processRx(void)
     }
 #endif
 
-    if (rcOptions[BOXPASSTHRU]) {
+    if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
         ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
     } else {
         DISABLE_FLIGHT_MODE(PASSTHRU_MODE);

src/main/telemetry/telemetry.c

@@ -106,7 +106,7 @@ bool determineNewTelemetryEnabledState(void)
 
     if (telemetryPortIsShared) {
         if (telemetryConfig->telemetry_switch)
-            enabled = rcOptions[BOXTELEMETRY];
+            enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
         else
             enabled = ARMING_FLAG(ARMED);
     }