Checks various features, modes, and OSD elements to determine if ACC is needed. Generates an arming disabled warning if ACC calibration has never been completed.
Would caouse display problems in the OSD with `ARMING_DISABLED_DSHOT_BITBANG` showing up as `ARMSWITCH` and any real cases of `ARMING_DISABLED_ARM_SWITCH` display garbage or possibly cause a wedge.
If the RPM filter is enabled, requires all motors to have received a valid DSHOT telemetry frame before arming is allowed. Otherwise sets the arming disabled reason `ARMING_DISABLED_RPMFILTER`.
During team relay races it's unsafe to retrieve crashed quads because the course is continuously hot. In order to safely fly a backup quad with the primary quad crashed in the field (but powered up) it's necessary to:
* Disable arming, so that the crashed quad doesn't unintentionally arm as well. This is specifically a problem when a transmitter can send signals to all powered up receivers (like FrSky and others).
* Change VTX to an unused channel with low power output
* Turn off telemetry
This change introduces a new mode called paralyze which disables arming and prevents mode changes (except beeper). It can only be invoked while the quad isn't armed. Once it's invoked, the FC has to be power cycled. In order to invoke it, the mode needs to be in a disengaged state at least once, so that forgetting to flip the switch back after crashing doesn't immediately invoke graveyard on the backup quad.
_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._
Previously the ARMING_DISABLED_RUNAWAY_TAKEOFF reason would be overridden by ARMING_DISABLED_THROTTLE which prevented the indication that the disarming was casued by a runaway event.
Also fixed a problem where the disarm beep pattern would override the arming disabled beep codes when runaway takeoff triggered an auto-disarm.
Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
This guards against the case when the RX takes longer to obtain a valid
link than the gyro takes to calibrate (previously this delay is all that
stopped immediate arming).
Requires that the arm switch must be moved from off to on after all
arming disable flags are unset.
Prevents accidental arming due to arm switch being left in the on
position.
