Disabling of 3D Feature on switch

src/main/flight/mixer.c

@@ -822,18 +822,18 @@ void mixTable(void)
     int16_t throttleMin, throttleMax;
     static int16_t throttlePrevious = 0;   // Store the last throttle direction for deadband transitions
 
-    // Find min and max throttle based on condition. Use rcData for 3D to prevent loss of power due to min_check
+    // Find min and max throttle based on condition.
     if (feature(FEATURE_3D)) {
         if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
 
-        if ((rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
+        if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;
-            throttlePrevious = throttle = rcData[THROTTLE];
+            throttlePrevious = throttle = rcCommand[THROTTLE];
-        } else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
+        } else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
             throttleMax = escAndServoConfig->maxthrottle;
             throttleMin = flight3DConfig->deadband3d_high;
-            throttlePrevious = throttle = rcData[THROTTLE];
+            throttlePrevious = throttle = rcCommand[THROTTLE];
         } else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttle = throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;

src/main/io/rc_controls.h

@@ -49,7 +49,8 @@ typedef enum {
     BOXBLACKBOX,
     BOXFAILSAFE,
     BOXAIRMODE,
-	BOXACROPLUS,
+    BOXACROPLUS,
+    BOX3DDISABLESWITCH,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 

src/main/io/rc_curves.c

@@ -24,6 +24,8 @@
 
 #include "io/rc_curves.h"
 
+#include "config/config.h"
+
 int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];     // lookup table for expo & RC rate PITCH+ROLL
 int16_t lookupYawRC[YAW_LOOKUP_LENGTH];     // lookup table for expo & RC rate YAW
 int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
@@ -48,6 +50,7 @@ void generateYawCurve(controlRateConfig_t *controlRateConfig)
 void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig)
 {
     uint8_t i;
+    uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : escAndServoConfig->minthrottle);
 
     for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
         int16_t tmp = 10 * i - controlRateConfig->thrMid8;
@@ -57,6 +60,6 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
         if (tmp < 0)
             y = controlRateConfig->thrMid8;
         lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
-        lookupThrottleRC[i] = escAndServoConfig->minthrottle + (int32_t) (escAndServoConfig->maxthrottle - escAndServoConfig->minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
+        lookupThrottleRC[i] = minThrottle + (int32_t) (escAndServoConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
     }
 }

src/main/io/serial_msp.c

@@ -217,6 +217,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXFAILSAFE, "FAILSAFE;", 27 },
     { BOXAIRMODE, "AIR MODE;", 28 },
     { BOXACROPLUS, "ACRO PLUS;", 29 },
+    { BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 30},
     { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
 };
 
@@ -544,7 +545,7 @@ void mspInit(serialConfig_t *serialConfig)
 
     activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
     activeBoxIds[activeBoxIdCount++] = BOXACROPLUS;
-
+    activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
 
     if (sensors(SENSOR_BARO)) {
         activeBoxIds[activeBoxIdCount++] = BOXBARO;

src/main/mw.c

@@ -270,11 +270,21 @@ void annexCode(void)
             rcCommand[axis] = -rcCommand[axis];
     }
 
-    tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
+    if (feature(FEATURE_3D)) {
-    tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+        tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
+        tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
+    } else {
+        tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
+        tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+    }
     tmp2 = tmp / 100;
     rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
 
+    if (IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
+        fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
+        rcCommand[THROTTLE] = masterConfig.rxConfig.midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - masterConfig.rxConfig.midrc);
+    }
+
     if (FLIGHT_MODE(HEADFREE_MODE)) {
         float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
         float cosDiff = cos_approx(radDiff);

src/main/version.h

@@ -17,7 +17,7 @@
 
 #define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            5  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      3  // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL      4  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)