first update

src/main/fc/fc_core.c

@@ -212,10 +212,10 @@ static void updateArmingStatus(void)
         /* CHECK: Throttle */
         if (!armingConfig()->fixed_wing_auto_arm) {
             // Don't want this check if fixed_wing_auto_arm is in use - machine arms on throttle > LOW
-            if (calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) != THROTTLE_LOW) {
+            if (throttleStickIsLow()) {
-                ENABLE_ARMING_FLAG(ARMING_DISABLED_THROTTLE);
-            } else {
                 DISABLE_ARMING_FLAG(ARMING_DISABLED_THROTTLE);
+            } else {
+                ENABLE_ARMING_FLAG(ARMING_DISABLED_THROTTLE);
             }
         }
 
@@ -630,13 +630,13 @@ void processRx(timeUs_t currentTimeUs)
 
     failsafeUpdateState();
 
-    const throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
+    const bool lowThrottle = throttleStickIsLow();
 
     // When armed and motors aren't spinning, do beeps periodically
     if (ARMING_FLAG(ARMED) && feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING_LEGACY)) {
         static bool armedBeeperOn = false;
 
-        if (throttleStatus == THROTTLE_LOW) {
+        if (lowThrottle) {
             beeper(BEEPER_ARMED);
             armedBeeperOn = true;
         } else if (armedBeeperOn) {
@@ -645,7 +645,7 @@ void processRx(timeUs_t currentTimeUs)
         }
     }
 
-    processRcStickPositions(throttleStatus);
+    processRcStickPositions();
     processAirmode();
     updateActivatedModes();
 
@@ -759,7 +759,7 @@ void processRx(timeUs_t currentTimeUs)
         pidResetErrorAccumulators();
     }
     else if (rcControlsConfig()->airmodeHandlingType == STICK_CENTER) {
-        if (throttleStatus == THROTTLE_LOW) {
+        if (lowThrottle) {
              if (STATE(AIRMODE_ACTIVE) && !failsafeIsActive()) {
                  if ((rollPitchStatus == CENTERED) || (feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING_LEGACY))) {
                      ENABLE_STATE(ANTI_WINDUP);
@@ -778,7 +778,7 @@ void processRx(timeUs_t currentTimeUs)
          }
     }
     else if (rcControlsConfig()->airmodeHandlingType == STICK_CENTER_ONCE) {
-        if (throttleStatus == THROTTLE_LOW) {
+        if (lowThrottle) {
              if (STATE(AIRMODE_ACTIVE) && !failsafeIsActive()) {
                  if ((rollPitchStatus == CENTERED) && !STATE(ANTI_WINDUP_DEACTIVATED)) {
                      ENABLE_STATE(ANTI_WINDUP);
@@ -802,7 +802,7 @@ void processRx(timeUs_t currentTimeUs)
     else if (rcControlsConfig()->airmodeHandlingType == THROTTLE_THRESHOLD) {
          DISABLE_STATE(ANTI_WINDUP);
          //This case applies only to MR when Airmode management is throttle threshold activated
-         if (throttleStatus == THROTTLE_LOW && !STATE(AIRMODE_ACTIVE)) {
+         if (lowThrottle && !STATE(AIRMODE_ACTIVE)) {
              pidResetErrorAccumulators();
          }
      }

src/main/fc/rc_controls.c

@@ -127,6 +127,11 @@ throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e
     return THROTTLE_HIGH;
 }
 
+bool throttleStickIsLow(void)
+{
+    return calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
+}
+
 int16_t throttleStickMixedValue(void)
 {
     int16_t throttleValue;
@@ -181,7 +186,7 @@ static void updateRcStickPositions(void)
     rcStickPositions = tmp;
 }
 
-void processRcStickPositions(throttleStatus_e throttleStatus)
+void processRcStickPositions(void)
 {
     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
@@ -209,9 +214,11 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
     bool armingSwitchIsActive = IS_RC_MODE_ACTIVE(BOXARM);
     emergencyArmingUpdate(armingSwitchIsActive);
 
+    const bool lowThrottle = throttleStickIsLow();
+
     if (STATE(AIRPLANE) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
         // Auto arm on throttle when using fixedwing and motorstop
-        if (throttleStatus != THROTTLE_LOW) {
+        if (!lowThrottle) {
             tryArm();
             return;
         }
@@ -227,7 +234,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
             if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
                 const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
                 if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
-                    if (armingConfig()->disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
+                    if (armingConfig()->disarm_kill_switch || lowThrottle) {
                         disarm(DISARM_SWITCH);
                     }
                 }

src/main/fc/rc_controls.h

@@ -112,6 +112,7 @@ bool isRollPitchStickDeflected(uint8_t deadband);
 throttleStatus_e calculateThrottleStatus(throttleStatusType_e type);
 int16_t throttleStickMixedValue(void);
 rollPitchStatus_e calculateRollPitchCenterStatus(void);
-void processRcStickPositions(throttleStatus_e throttleStatus);
+void processRcStickPositions(void);
+bool throttleStickIsLow(void);
 
 int32_t getRcStickDeflection(int32_t axis);

src/main/flight/failsafe.c

@@ -387,7 +387,7 @@ void failsafeUpdateState(void)
             case FAILSAFE_IDLE:
                 if (armed) {
                     // Track throttle command below minimum time
-                    if (THROTTLE_HIGH == calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC)) {
+                    if (!throttleStickIsLow()) {
                         failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
                     }
                     if (!receivingRxDataAndNotFailsafeMode) {

src/main/flight/mixer.c

@@ -626,11 +626,8 @@ motorStatus_e getMotorStatus(void)
     }
 
     const bool fixedWingOrAirmodeNotActive = STATE(FIXED_WING_LEGACY) || !STATE(AIRMODE_ACTIVE);
-    const bool throttleStickLow =
-        (calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW);
-
-    if (throttleStickLow && fixedWingOrAirmodeNotActive) {
 
+    if (throttleStickIsLow() && fixedWingOrAirmodeNotActive) {
         if ((navConfig()->general.flags.nav_overrides_motor_stop == NOMS_OFF_ALWAYS) && failsafeIsActive()) {
             // If we are in failsafe and user was holding stick low before it was triggered and nav_overrides_motor_stop is set to OFF_ALWAYS
             // and either on a plane or on a quad with inactive airmode - stop motor
@@ -652,7 +649,6 @@ motorStatus_e getMotorStatus(void)
                     return MOTOR_STOPPED_USER;
             }
         }
-
     }
 
     return MOTOR_RUNNING;

src/main/navigation/navigation.c

@@ -4327,8 +4327,7 @@ bool isNavLaunchEnabled(void)
 bool abortLaunchAllowed(void)
 {
     // allow NAV_LAUNCH_MODE to be aborted if throttle is low or throttle stick position is < launch idle throttle setting
-    throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
+    return throttleStickIsLow() || throttleStickMixedValue() < currentBatteryProfile->nav.fw.launch_idle_throttle;
-    return throttleStatus == THROTTLE_LOW || throttleStickMixedValue() < currentBatteryProfile->nav.fw.launch_idle_throttle;
 }
 
 int32_t navigationGetHomeHeading(void)

src/main/navigation/navigation_fixedwing.c

@@ -685,12 +685,11 @@ bool isFixedWingLandingDetected(void)
 {
     DEBUG_SET(DEBUG_LANDING, 4, 0);
     static bool fixAxisCheck = false;
-    const bool throttleIsLow = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
 
     // Basic condition to start looking for landing
     bool startCondition = (navGetCurrentStateFlags() & (NAV_CTL_LAND | NAV_CTL_EMERG))
                           || FLIGHT_MODE(FAILSAFE_MODE)
-                          || (!navigationIsControllingThrottle() && throttleIsLow);
+                          || (!navigationIsControllingThrottle() && throttleStickIsLow());
 
     if (!startCondition || posControl.flags.resetLandingDetector) {
         return fixAxisCheck = posControl.flags.resetLandingDetector = false;

src/main/navigation/navigation_fw_launch.c

@@ -248,11 +248,6 @@ static void applyThrottleIdleLogic(bool forceMixerIdle)
     }
 }
 
-static inline bool isThrottleLow(void)
-{
-    return calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
-}
-
 static inline bool isLaunchMaxAltitudeReached(void)
 {
     return (navConfig()->fw.launch_max_altitude > 0) && (getEstimatedActualPosition(Z) >= navConfig()->fw.launch_max_altitude);
@@ -272,7 +267,7 @@ static inline bool isProbablyNotFlying(void)
 
 static void resetPidsIfNeeded(void) {
     // Don't use PID I-term and reset TPA filter until motors are started or until flight is detected
-    if (isProbablyNotFlying() || fwLaunch.currentState < FW_LAUNCH_STATE_MOTOR_SPINUP || (navConfig()->fw.launch_manual_throttle && isThrottleLow())) {
+    if (isProbablyNotFlying() || fwLaunch.currentState < FW_LAUNCH_STATE_MOTOR_SPINUP || (navConfig()->fw.launch_manual_throttle && throttleStickIsLow())) {
         pidResetErrorAccumulators();
         pidResetTPAFilter();
     }
@@ -292,7 +287,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
 {
     UNUSED(currentTimeUs);
 
-    if (!isThrottleLow()) {
+    if (!throttleStickIsLow()) {
         if (isThrottleIdleEnabled()) {
             return FW_LAUNCH_EVENT_SUCCESS;
         }
@@ -312,7 +307,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
 
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs)
 {
-    if (isThrottleLow()) {
+    if (throttleStickIsLow()) {
         return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
     }
 
@@ -330,7 +325,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(tim
 
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs)
 {
-    if (isThrottleLow()) {
+    if (throttleStickIsLow()) {
         return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
     }
 
@@ -349,7 +344,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t
 
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs)
 {
-    if (isThrottleLow()) {
+    if (throttleStickIsLow()) {
         return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
     }
 
@@ -427,7 +422,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t
 
     if (navConfig()->fw.launch_manual_throttle) {
         // reset timers when throttle is low or until flight detected and abort launch regardless of launch settings
-        if (isThrottleLow()) {
+        if (throttleStickIsLow()) {
             fwLaunch.currentStateTimeUs = currentTimeUs;
             fwLaunch.pitchAngle = 0;
             if (isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {

src/main/navigation/navigation_multicopter.c

@@ -176,14 +176,14 @@ bool adjustMulticopterAltitudeFromRCInput(void)
 
 void setupMulticopterAltitudeController(void)
 {
-    const throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
+    const bool lowThrottle = throttleStickIsLow();
 
     if (navConfig()->general.flags.use_thr_mid_for_althold) {
         altHoldThrottleRCZero = rcLookupThrottleMid();
     }
     else {
-        // If throttle status is THROTTLE_LOW - use Thr Mid anyway
+        // If throttle is LOW - use Thr Mid anyway
-        if (throttleStatus == THROTTLE_LOW) {
+        if (lowThrottle) {
             altHoldThrottleRCZero = rcLookupThrottleMid();
         }
         else {
@@ -198,7 +198,7 @@ void setupMulticopterAltitudeController(void)
 
     // Force AH controller to initialize althold integral for pending takeoff on reset
     // Signal for that is low throttle _and_ low actual altitude
-    if (throttleStatus == THROTTLE_LOW && fabsf(navGetCurrentActualPositionAndVelocity()->pos.z) <= 50.0f) {
+    if (lowThrottle && fabsf(navGetCurrentActualPositionAndVelocity()->pos.z) <= 50.0f) {
         prepareForTakeoffOnReset = true;
     }
 }
@@ -724,13 +724,12 @@ bool isMulticopterLandingDetected(void)
 {
     DEBUG_SET(DEBUG_LANDING, 4, 0);
     static timeUs_t landingDetectorStartedAt;
-    const bool throttleIsLow = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
 
     /* Basic condition to start looking for landing
     *  Prevent landing detection if WP mission allowed during Failsafe (except landing states) */
     bool startCondition = (navGetCurrentStateFlags() & (NAV_CTL_LAND | NAV_CTL_EMERG))
                           || (FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_WP_MODE))
-                          || (!navigationIsFlyingAutonomousMode() && throttleIsLow);
+                          || (!navigationIsFlyingAutonomousMode() && throttleStickIsLow());
 
     if (!startCondition || posControl.flags.resetLandingDetector) {
         landingDetectorStartedAt = 0;

src/main/sensors/battery.c

@@ -547,7 +547,6 @@ void currentMeterUpdate(timeUs_t timeDelta)
         case CURRENT_SENSOR_VIRTUAL:
             amperage = batteryMetersConfig()->current.offset;
             if (ARMING_FLAG(ARMED)) {
-                throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
                 navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
                 bool allNav = navConfig()->general.flags.nav_overrides_motor_stop == NOMS_ALL_NAV && posControl.navState != NAV_STATE_IDLE;
                 bool autoNav = navConfig()->general.flags.nav_overrides_motor_stop == NOMS_AUTO_ONLY && (stateFlags & (NAV_AUTO_RTH | NAV_AUTO_WP));
@@ -556,7 +555,7 @@ void currentMeterUpdate(timeUs_t timeDelta)
                 if (allNav || autoNav) {    // account for motors running in Nav modes with throttle low + motor stop
                     throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
                 } else {
-                    throttleOffset = ((throttleStatus == THROTTLE_LOW) && feature(FEATURE_MOTOR_STOP)) ? 0 : (int32_t)rcCommand[THROTTLE] - 1000;
+                    throttleOffset = (throttleStickIsLow() && feature(FEATURE_MOTOR_STOP)) ? 0 : (int32_t)rcCommand[THROTTLE] - 1000;
                 }
                 int32_t throttleFactor = throttleOffset + (throttleOffset * throttleOffset / 50);
                 amperage += throttleFactor * batteryMetersConfig()->current.scale / 1000;

src/main/telemetry/frsky_d.c

@@ -195,10 +195,10 @@ static void sendThrottleOrBatterySizeAsRpm(void)
 {
     sendDataHead(ID_RPM);
     if (ARMING_FLAG(ARMED)) {
-        const throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
         uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
-        if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
+        if (throttleStickIsLow() && feature(FEATURE_MOTOR_STOP)) {
-                    throttleForRPM = 0;
+            throttleForRPM = 0;
+        }
         serialize16(throttleForRPM);
     } else {
         serialize16((currentBatteryProfile->capacity.value / BLADE_NUMBER_DIVIDER));