From cb792f30d26ad3ac6b554adb9b5588cfab9d51f8 Mon Sep 17 00:00:00 2001
From: Robert Lacroix <mail@robertlacroix.com>
Date: Sun, 15 Jul 2018 09:22:34 +0200
Subject: [PATCH] Delay allowing sticky modes

On bootup aux channels start out at default and allow sticky modes right away,
although they should only be allowed once they are actually not active.

_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
---
 src/main/fc/rc_modes.c                      |  3 ++-
 src/test/unit/arming_prevention_unittest.cc | 28 ++++++++++++++++++---
 src/test/unit/flight_failsafe_unittest.cc   |  5 ++++
 src/test/unit/rc_controls_unittest.cc       |  4 +++
 src/test/unit/rcdevice_unittest.cc          |  1 +
 5 files changed, 36 insertions(+), 5 deletions(-)

diff --git a/src/main/fc/rc_modes.c b/src/main/fc/rc_modes.c
index 510a3244b9..66179fe02f 100644
--- a/src/main/fc/rc_modes.c
+++ b/src/main/fc/rc_modes.c
@@ -28,6 +28,7 @@
 
 #include "common/bitarray.h"
 #include "common/maths.h"
+#include "drivers/time.h"
 
 #include "config/feature.h"
 #include "pg/pg.h"
@@ -112,7 +113,7 @@ void updateActivatedModes(void)
                 if (paralyzeModeEverDisabled) {
                     updateMasksForMac(mac, &andMask, &newMask);
                 } else {
-                    paralyzeModeEverDisabled = !isRangeActive(mac->auxChannelIndex, &mac->range);
+                    paralyzeModeEverDisabled = micros() >= 5e6 && !isRangeActive(mac->auxChannelIndex, &mac->range);
                 }
             }
         } else if (mode < CHECKBOX_ITEM_COUNT) {
diff --git a/src/test/unit/arming_prevention_unittest.cc b/src/test/unit/arming_prevention_unittest.cc
index 78d9a1e2f1..3b96f8972e 100644
--- a/src/test/unit/arming_prevention_unittest.cc
+++ b/src/test/unit/arming_prevention_unittest.cc
@@ -616,7 +616,7 @@ TEST(ArmingPreventionTest, ParalyzeOnAtBoot)
 {
     // given
     simulationFeatureFlags = 0;
-    simulationTime = 30e6; // 30 seconds after boot
+    simulationTime = 0;
     gyroCalibDone = true;
 
     // and
@@ -660,7 +660,7 @@ TEST(ArmingPreventionTest, Paralyze)
 {
     // given
     simulationFeatureFlags = 0;
-    simulationTime = 30e6; // 30 seconds after boot
+    simulationTime = 0;
     gyroCalibDone = true;
 
     // and
@@ -686,7 +686,7 @@ TEST(ArmingPreventionTest, Paralyze)
     // given
     rcData[THROTTLE] = 1000;
     rcData[AUX1] = 1000;
-    rcData[AUX2] = 1000;
+    rcData[AUX2] = 1800; // Start out with paralyze enabled
     rcData[AUX3] = 1000;
     ENABLE_STATE(SMALL_ANGLE);
 
@@ -726,9 +726,28 @@ TEST(ArmingPreventionTest, Paralyze)
     EXPECT_FALSE(ARMING_FLAG(ARMED));
     EXPECT_FALSE(isArmingDisabled());
     EXPECT_EQ(0, getArmingDisableFlags());
+    EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
 
     // given
-    // paralyze (and activate linked vtx pit mode)
+    simulationTime = 10e6; // 10 seconds after boot
+
+    // when
+    updateActivatedModes();
+
+    // expect
+    EXPECT_FALSE(ARMING_FLAG(ARMED));
+    EXPECT_FALSE(isArmingDisabled());
+    EXPECT_EQ(0, getArmingDisableFlags());
+    EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
+
+    // given
+    // disable paralyze once after the startup timer
+    rcData[AUX2] = 1000;
+
+    // when
+    updateActivatedModes();
+
+    // enable paralyze again
     rcData[AUX2] = 1800;
 
     // when
@@ -738,6 +757,7 @@ TEST(ArmingPreventionTest, Paralyze)
     // expect
     EXPECT_TRUE(isArmingDisabled());
     EXPECT_EQ(ARMING_DISABLED_PARALYZE, getArmingDisableFlags());
+    EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
     EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXVTXPITMODE));
     EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXBEEPERON));
 
diff --git a/src/test/unit/flight_failsafe_unittest.cc b/src/test/unit/flight_failsafe_unittest.cc
index d40539e4fa..4fe3e4aeae 100644
--- a/src/test/unit/flight_failsafe_unittest.cc
+++ b/src/test/unit/flight_failsafe_unittest.cc
@@ -555,6 +555,11 @@ uint32_t millis(void)
     return sysTickUptime;
 }
 
+uint32_t micros(void)
+{
+    return millis() * 1000;
+}
+
 throttleStatus_e calculateThrottleStatus()
 {
     return throttleStatus;
diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc
index bf20ccaf28..d8b67449b5 100644
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -224,6 +224,10 @@ extern "C" {
 uint32_t millis(void) {
     return fixedMillis;
 }
+
+uint32_t micros(void) {
+    return fixedMillis * 1000;
+}
 }
 
 void resetMillis(void) {
diff --git a/src/test/unit/rcdevice_unittest.cc b/src/test/unit/rcdevice_unittest.cc
index 00a1bdf785..a255e4d830 100644
--- a/src/test/unit/rcdevice_unittest.cc
+++ b/src/test/unit/rcdevice_unittest.cc
@@ -888,6 +888,7 @@ extern "C" {
     }
     
     uint32_t millis(void) { return testData.millis++; }
+    uint32_t micros(void) { return millis() * 1000; }
     void beeper(beeperMode_e mode) { UNUSED(mode); }
     uint8_t armingFlags = 0;
     bool cmsInMenu;