Log last disarm reason to blackbox, report via LTM

src/main/blackbox/blackbox.c

@@ -48,6 +48,7 @@
 #include "drivers/time.h"
 
 #include "fc/config.h"
+#include "fc/fc_core.h"
 #include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -1453,7 +1454,7 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
             blackboxWrite(0);
         break;
         case FLIGHT_LOG_EVENT_LOG_END:
-            blackboxPrint("End of log");
+            blackboxPrintf("End of log (disarm reason:%d)", getDisarmReason());
             blackboxWrite(0);
         break;
     }

src/main/fc/fc_core.c

@@ -45,6 +45,7 @@
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
 
+#include "fc/fc_core.h"
 #include "fc/cli.h"
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
@@ -103,6 +104,7 @@ int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
 static bool isRXDataNew;
+static disarmReason_t lastDisarmReason = DISARM_NONE;
 
 bool isCalibrating(void)
 {
@@ -222,9 +224,10 @@ void annexCode(void)
     }
 }
 
-void mwDisarm(void)
+void mwDisarm(disarmReason_t disarmReason)
 {
     if (ARMING_FLAG(ARMED)) {
+        lastDisarmReason = disarmReason;
         DISABLE_ARMING_FLAG(ARMED);
 
 #ifdef BLACKBOX
@@ -237,6 +240,11 @@ void mwDisarm(void)
     }
 }
 
+disarmReason_t getDisarmReason(void)
+{
+    return lastDisarmReason;
+}
+
 #define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_IBUS)
 
 void releaseSharedTelemetryPorts(void) {
@@ -302,7 +310,7 @@ 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();
+            mwDisarm(DISARM_SWITCH_3D);
     }
 
     updateRSSI(currentTimeUs);
@@ -329,7 +337,7 @@ void processRx(timeUs_t currentTimeUs)
                     && (int32_t)(disarmAt - millis()) < 0
                 ) {
                     // auto-disarm configured and delay is over
-                    mwDisarm();
+                    mwDisarm(DISARM_TIMEOUT);
                     armedBeeperOn = false;
                 } else {
                     // still armed; do warning beeps while armed

src/main/fc/fc_core.h

@@ -19,9 +19,21 @@
 
 extern int16_t telemTemperature1;
 
+typedef enum disarmReason_e {
+    DISARM_NONE         = 0,
+    DISARM_TIMEOUT      = 1,
+    DISARM_STICKS       = 2,
+    DISARM_SWITCH_3D    = 3,
+    DISARM_SWITCH       = 4,
+    DISARM_KILLSWITCH   = 5,
+    DISARM_FAILSAFE     = 6,
+    DISARM_NAVIGATION   = 7
+} disarmReason_t;
+
 void handleInflightCalibrationStickPosition();
 
-void mwDisarm(void);
+void mwDisarm(disarmReason_t disarmReason);
 void mwArm(void);
+disarmReason_t getDisarmReason(void);
 
 bool isCalibrating(void);

src/main/fc/rc_controls.c

@@ -179,9 +179,9 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
                 rcDisarmTicks++;
                 if (rcDisarmTicks > 3) {    // Wait for at least 3 RX ticks (60ms @ 50Hz RX)
                     if (disarm_kill_switch) {
-                        mwDisarm();
+                        mwDisarm(DISARM_SWITCH);
                     } else if (throttleStatus == THROTTLE_LOW) {
-                        mwDisarm();
+                        mwDisarm(DISARM_SWITCH);
                     }
                 }
             }
@@ -193,7 +193,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
 
     // KILLSWITCH disarms instantly
     if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
-        mwDisarm();
+        mwDisarm(DISARM_KILLSWITCH);
     }
 
     if (rcDelayCommand != 20) {
@@ -208,7 +208,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
                 return;
             }
             else if (ARMING_FLAG(ARMED)) {
-                mwDisarm();
+                mwDisarm(DISARM_STICKS);
             }
             else {
                 beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held

src/main/fc/runtime_config.h

@@ -111,5 +111,3 @@ bool sensors(uint32_t mask);
 void sensorsSet(uint32_t mask);
 void sensorsClear(uint32_t mask);
 uint32_t sensorsMask(void);
-
-void mwDisarm(void);

src/main/flight/failsafe.c

@@ -34,6 +34,7 @@
 
 #include "io/beeper.h"
 
+#include "fc/fc_core.h"
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -143,6 +144,11 @@ void failsafeReset(void)
     failsafeState.receivingRxDataPeriodPreset = 0;
     failsafeState.phase = FAILSAFE_IDLE;
     failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
+
+    failsafeState.lastGoodRcCommand[ROLL] = 0;
+    failsafeState.lastGoodRcCommand[PITCH] = 0;
+    failsafeState.lastGoodRcCommand[YAW] = 0;
+    failsafeState.lastGoodRcCommand[THROTTLE] = 1000;
 }
 
 void failsafeInit(void)
@@ -461,7 +467,7 @@ void failsafeUpdateState(void)
 
             case FAILSAFE_LANDED:
                 ENABLE_ARMING_FLAG(PREVENT_ARMING); // To prevent accidently rearming by an intermittent rx link
-                mwDisarm();
+                mwDisarm(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

@@ -34,6 +34,7 @@
 
 #include "drivers/time.h"
 
+#include "fc/fc_core.h"
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -1015,7 +1016,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigatio
     UNUSED(previousState);
 
     if (navConfig()->general.flags.disarm_on_landing) {
-        mwDisarm();
+        mwDisarm(DISARM_NAVIGATION);
     }
 
     return NAV_FSM_EVENT_SUCCESS;

src/main/telemetry/ltm.c

@@ -50,6 +50,7 @@
 #include "io/serial.h"
 
 #include "fc/config.h"
+#include "fc/fc_core.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
@@ -259,7 +260,7 @@ void ltm_xframe(sbuf_t *dst)
 #endif
     ltm_serialise_8(dst, sensorStatus);
     ltm_serialise_8(dst, ltm_x_counter);
-    ltm_serialise_8(dst, 0);
+    ltm_serialise_8(dst, getDisarmReason());
     ltm_serialise_8(dst, 0);
     ltm_x_counter++; // overflow is OK
 }