Fix 3D arming checks when using switched 3D mode

When FEATURE_3D is on and BOX3DONASWITCH is configured the "standard"
throttle arming condition is used.

src/main/fc/fc_core.c

@@ -221,6 +221,7 @@ void updateArmingStatus(void)
           /* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
           bool ignoreThrottle = feature(FEATURE_3D)
                              && !IS_RC_MODE_ACTIVE(BOX3DDISABLE)
+                             && !isModeActivationConditionPresent(BOX3DONASWITCH)
                              && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
 
           // If arming is disabled and the ARM switch is on

src/test/unit/arming_prevention_unittest.cc

@@ -369,10 +369,7 @@ TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadband)
     // and
     rcData[THROTTLE] = 1400;
     ENABLE_STATE(SMALL_ANGLE);
-
+    simulationHaveRx = true;
-    // and
-    // RX has no link to radio
-    simulationHaveRx = false;
 
     // and
     // arm channel has a safe default value
@@ -441,10 +438,7 @@ TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionAp
     // safe throttle value for 3D mode
     rcData[THROTTLE] = 1500;
     ENABLE_STATE(SMALL_ANGLE);
-
+    simulationHaveRx = true;
-    // and
-    // RX has no link to radio
-    simulationHaveRx = false;
 
     // and
     // arm channel has a safe default value
@@ -518,6 +512,100 @@ TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionAp
     EXPECT_EQ(0, getArmingDisableFlags());
 }
 
+TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingConditionApplies)
+{
+    // given
+    simulationFeatureFlags = FEATURE_3D; // Using 3D mode
+    simulationTime = 30e6; // 30 seconds after boot
+    gyroCalibDone = true;
+
+    // and
+    modeActivationConditionsMutable(0)->auxChannelIndex = 0;
+    modeActivationConditionsMutable(0)->modeId = BOXARM;
+    modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
+    modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
+    modeActivationConditionsMutable(1)->auxChannelIndex = 1;
+    modeActivationConditionsMutable(1)->modeId = BOX3DONASWITCH;
+    modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
+    modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
+    useRcControlsConfig(NULL);
+
+    // and
+    rxConfigMutable()->mincheck = 1050;
+
+    // and
+    rcData[THROTTLE] = 1000;
+    ENABLE_STATE(SMALL_ANGLE);
+    simulationHaveRx = true;
+
+    // and
+    // arm channel has a safe default value
+    rcData[4] = 1100;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    // ok to arm in 3D mode
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_FALSE(isArmingDisabled());
+    EXPECT_EQ(0, getArmingDisableFlags());
+
+    // given
+    // raise throttle to unsafe position
+    rcData[THROTTLE] = 1500;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    // ok to arm in 3D mode
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_TRUE(isArmingDisabled());
+    EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
+
+    // given
+    // attempt to arm
+    rcData[4] = 1800;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_TRUE(isArmingDisabled());
+    EXPECT_EQ(ARMING_DISABLED_THROTTLE | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
+
+    // given
+    // throttle moved low
+    rcData[THROTTLE] = 1000;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_TRUE(isArmingDisabled());
+    EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
+
+    // given
+    // arm switch turned off
+    rcData[4] = 1000;
+
+    // when
+    updateActivatedModes();
+    updateArmingStatus();
+
+    // expect
+    EXPECT_FALSE(isUsingSticksForArming());
+    EXPECT_FALSE(isArmingDisabled());
+    EXPECT_EQ(0, getArmingDisableFlags());
+}
+
 // STUBS
 extern "C" {
     uint32_t micros(void) { return simulationTime; }