Auto arm fixed wing aircrafts (improved)

src/main/config/config_master.h

@@ -74,6 +74,7 @@ typedef struct master_s {
 
     failsafeConfig_t failsafeConfig;
 
+    uint8_t fixed_wing_auto_arm;            // Auto-arm fixed wing aircraft on throttle up and never disarm
     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
     uint8_t small_angle;

src/main/fc/mw.c

@@ -341,7 +341,7 @@ void processRx(void)
         }
     }
 
-    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
+    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch, masterConfig.fixed_wing_auto_arm);
 
     updateActivatedModes(currentProfile->modeActivationConditions, currentProfile->modeActivationOperator);
 

src/main/fc/rc_controls.c

@@ -145,7 +145,7 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
     return NOT_CENTERED;
 }
 
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm)
 {
     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
@@ -170,7 +170,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
 
     // perform actions
     if (!isUsingSticksToArm) {
-
         if (IS_RC_MODE_ACTIVE(BOXARM)) {
             // Arming via ARM BOX
             if (throttleStatus == THROTTLE_LOW) {
@@ -196,22 +195,22 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
     }
 
    if (isUsingSticksToArm) {
-        // Disarm on throttle down + yaw
-        if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
         // Dont disarm if fixedwing and motorstop
-            if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP)) {
+        if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && fixed_wing_auto_arm) {
             return;
 		}
-		else {
+
-            if (ARMING_FLAG(ARMED))
+        // Disarm on throttle down + yaw
+        if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
+            if (ARMING_FLAG(ARMED)) {
                 mwDisarm();
+            }
             else {
                 beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
                 rcDelayCommand = 0;              // reset so disarm tone will repeat
             }
         }
    }
-   }
 
     if (ARMING_FLAG(ARMED)) {
         // actions during armed
@@ -239,29 +238,31 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
         return;
     }
 
+
     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
         saveConfigAndNotify();
     }
 
-    if (isUsingSticksToArm) {
 
+    if (isUsingSticksToArm) {
+        if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && fixed_wing_auto_arm) {
+            // Auto arm on throttle when using fixedwing and motorstop
+            if (throttleStatus != THROTTLE_LOW) {
+                // Arm via YAW
+                mwArm();
+                return;
+            }
+        }
+        else {
             if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
                 // Arm via YAW
                 mwArm();
                 return;
             }
         }
-
-// Auto arm on throttle when using fixedwing and motorstop
-    if (isUsingSticksToArm) {
-
-        if ((!throttleStatus == THROTTLE_LOW) && (STATE(FIXED_WING)) && (feature(FEATURE_MOTOR_STOP))) {
-            // Arm via YAW
-            mwArm();
-            return;
-        }
     }
 
+
     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
         // Calibrating Acc
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);

src/main/fc/rc_controls.h

@@ -174,7 +174,7 @@ bool areUsingSticksToArm(void);
 bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm);
 
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, modeActivationOperator_e modeActivationOperator);
 

src/main/io/serial_cli.c

@@ -603,6 +603,7 @@ const clivalue_t valueTable[] = {
 
     { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 50,  32000 }, 0 },
 
+    { "fixed_wing_auto_arm",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.fixed_wing_auto_arm, .config.lookup = { TABLE_OFF_ON }, 0 },
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
     { "auto_disarm_delay",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.auto_disarm_delay, .config.minmax = { 0,  60 }, 0 },
     { "small_angle",                VAR_UINT8  | MASTER_VALUE,  &masterConfig.small_angle, .config.minmax = { 0,  180 }, 0 },