Refactor arming; Add configurable switch-disarm delay

src/main/fc/fc_core.c

@@ -332,7 +332,7 @@ void annexCode(void)
     updateArmingStatus();
 }
 
-void mwDisarm(disarmReason_t disarmReason)
+void disarm(disarmReason_t disarmReason)
 {
     if (ARMING_FLAG(ARMED)) {
         lastDisarmReason = disarmReason;
@@ -365,7 +365,7 @@ void releaseSharedTelemetryPorts(void) {
     }
 }
 
-void mwArm(void)
+void tryArm(void)
 {
     updateArmingStatus();
 
@@ -427,7 +427,7 @@ void processRx(timeUs_t currentTimeUs)
     // in 3D mode, we need to be able to disarm by switch at any time
     if (feature(FEATURE_3D)) {
         if (!IS_RC_MODE_ACTIVE(BOXARM))
-            mwDisarm(DISARM_SWITCH_3D);
+            disarm(DISARM_SWITCH_3D);
     }
 
     updateRSSI(currentTimeUs);
@@ -454,7 +454,7 @@ void processRx(timeUs_t currentTimeUs)
                     && (int32_t)(disarmAt - millis()) < 0
                 ) {
                     // auto-disarm configured and delay is over
-                    mwDisarm(DISARM_TIMEOUT);
+                    disarm(DISARM_TIMEOUT);
                     armedBeeperOn = false;
                 } else {
                     // still armed; do warning beeps while armed
@@ -485,7 +485,7 @@ void processRx(timeUs_t currentTimeUs)
         }
     }
 
-    processRcStickPositions(throttleStatus, armingConfig()->disarm_kill_switch, armingConfig()->fixed_wing_auto_arm);
+    processRcStickPositions(throttleStatus);
 
     updateActivatedModes();
 

src/main/fc/fc_core.h

@@ -31,8 +31,8 @@ typedef enum disarmReason_e {
 
 void handleInflightCalibrationStickPosition(void);
 
-void mwDisarm(disarmReason_t disarmReason);
+void disarm(disarmReason_t disarmReason);
-void mwArm(void);
+void tryArm(void);
 disarmReason_t getDisarmReason(void);
 
 bool isCalibrating(void);

src/main/fc/rc_controls.c

@@ -62,7 +62,8 @@
 #include "sensors/acceleration.h"
 
 #define AIRMODE_DEADBAND 25
-#define MIN_RC_TICK_INTERVAL_MS     20
+#define MIN_RC_TICK_INTERVAL_MS             20
+#define DEFAULT_RC_SWITCH_DISARM_DELAY_MS   150     // Wait at least 150ms before disarming via switch
 
 stickPositions_e rcStickPositions;
 
@@ -78,11 +79,13 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
     .deadband3d_throttle = 50
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0);
+PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 1);
 
 PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
+    .fixed_wing_auto_arm = 0,
     .disarm_kill_switch = 1,
-    .auto_disarm_delay = 5
+    .auto_disarm_delay = 5,
+    .switchDisarmDelayMs = DEFAULT_RC_SWITCH_DISARM_DELAY_MS,
 );
 
 bool areSticksInApModePosition(uint16_t ap_mode)
@@ -151,12 +154,12 @@ static void updateRcStickPositions(void)
     rcStickPositions = tmp;
 }
 
-void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm)
+void processRcStickPositions(throttleStatus_e throttleStatus)
 {
     static timeMs_t lastTickTimeMs = 0;
     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 uint32_t rcSticks;           // this hold sticks position for command combos
-    static uint8_t rcDisarmTicks;       // this is an extra guard for disarming through switch to prevent that one frame can disarm it
+    static timeMs_t rcDisarmTimeMs;     // this is an extra guard for disarming through switch to prevent that one frame can disarm it
     const timeMs_t currentTimeMs = millis();
 
     updateRcStickPositions();
@@ -177,29 +180,29 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
     // perform actions
     if (!isUsingSticksForArming()) {
         if (IS_RC_MODE_ACTIVE(BOXARM)) {
-            rcDisarmTicks = 0;
+            rcDisarmTimeMs = currentTimeMs;
-            mwArm();
+            tryArm();
         } else {
             // Disarming via ARM BOX
             // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
             // and can't afford to risk disarming in the air
             if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
-                rcDisarmTicks++;
+                const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
-                if (rcDisarmTicks > 3) {    // Wait for at least 3 RX ticks (60ms @ 50Hz RX)
+                if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
-                    if (disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
+                    if (armingConfig()->disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
-                        mwDisarm(DISARM_SWITCH);
+                        disarm(DISARM_SWITCH);
                     }
                 }
             }
             else {
-                rcDisarmTicks = 0;
+                rcDisarmTimeMs = currentTimeMs;
             }
         }
     }
 
     // KILLSWITCH disarms instantly
     if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
-        mwDisarm(DISARM_KILLSWITCH);
+        disarm(DISARM_KILLSWITCH);
     }
 
     if (rcDelayCommand != 20) {
@@ -210,11 +213,11 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
         // 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) && fixed_wing_auto_arm) {
+            if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
                 return;
             }
             else if (ARMING_FLAG(ARMED)) {
-                mwDisarm(DISARM_STICKS);
+                disarm(DISARM_STICKS);
             }
             else {
                 beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
@@ -274,17 +277,17 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
 
     // Arming by sticks
     if (isUsingSticksForArming()) {
-        if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && fixed_wing_auto_arm) {
+        if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
             // Auto arm on throttle when using fixedwing and motorstop
             if (throttleStatus != THROTTLE_LOW) {
-                mwArm();
+                tryArm();
                 return;
             }
         }
         else {
             if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
                 // Arm via YAW
-                mwArm();
+                tryArm();
                 return;
             }
         }

src/main/fc/rc_controls.h

@@ -81,6 +81,7 @@ typedef struct armingConfig_s {
     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
+    uint16_t switchDisarmDelayMs;           // additional delay between ARM box going off and actual disarm
 } armingConfig_t;
 
 PG_DECLARE(armingConfig_t, armingConfig);
@@ -92,6 +93,6 @@ bool areSticksInApModePosition(uint16_t ap_mode);
 bool areSticksDeflectedMoreThanPosHoldDeadband(void);
 throttleStatus_e calculateThrottleStatus(void);
 rollPitchStatus_e calculateRollPitchCenterStatus(void);
-void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm);
+void processRcStickPositions(throttleStatus_e throttleStatus);
 
 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);

src/main/fc/settings.yaml

@@ -710,6 +710,10 @@ groups:
       - name: auto_disarm_delay
         min: 0
         max: 60
+      - name: switch_disarm_delay
+        field: switchDisarmDelayMs
+        min: 0
+        max: 1000
 
   - name: PG_GPS_CONFIG
     type: gpsConfig_t

src/main/flight/failsafe.c

@@ -498,7 +498,7 @@ void failsafeUpdateState(void)
 
             case FAILSAFE_LANDED:
                 ENABLE_ARMING_FLAG(ARMING_DISABLED_FAILSAFE_SYSTEM); // To prevent accidently rearming by an intermittent rx link
-                mwDisarm(DISARM_FAILSAFE);
+                disarm(DISARM_FAILSAFE);
                 failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
                 failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
                 failsafeState.controlling = false;  // Failsafe no longer in control of the machine - release control to pilot

src/main/navigation/navigation.c

@@ -1036,7 +1036,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigatio
     UNUSED(previousState);
 
     if (navConfig()->general.flags.disarm_on_landing) {
-        mwDisarm(DISARM_NAVIGATION);
+        disarm(DISARM_NAVIGATION);
     }
 
     return NAV_FSM_EVENT_SUCCESS;