Make disarming via AUX switch independent of throttle value configurable

Conflicts:
	src/cli.c
	src/config.c
	src/mw.c
	src/mw.h

src/main/config/config.c

@@ -277,7 +277,8 @@ static void resetConf(void)
 
     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 
-    masterConfig.retarded_arm = 0;              // disable arm/disarm on roll left/right
+    masterConfig.retarded_arm = 0;
+    masterConfig.disarm_kill_switch = 1;
     masterConfig.small_angle = 25;
 
     masterConfig.airplaneConfig.flaps_speed = 0;

src/main/config/config_master.h

@@ -59,7 +59,8 @@ typedef struct master_t {
     rxConfig_t rxConfig;
     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
 
-    uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
+    uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
+    uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint8_t small_angle;
 
     airplaneConfig_t airplaneConfig;

src/main/io/rc_controls.c

@@ -67,7 +67,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
     return THROTTLE_HIGH;
 }
 
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm)
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm, bool disarm_kill_switch)
 {
     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
@@ -103,7 +103,11 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
         } else {
             // Disarming via ARM BOX
             if (ARMING_FLAG(ARMED)) {
-                mwDisarm();
+                if (disarm_kill_switch) {
+                    mwDisarm();
+                } else if (throttleStatus == THROTTLE_LOW) {
+                    mwDisarm();
+                }
             }
         }
     }

src/main/io/rc_controls.h

@@ -91,7 +91,7 @@ extern int16_t rcCommand[4];
 
 bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm);
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm, bool disarm_kill_switch);
 
 
 void updateRcOptions(uint32_t *activate);

src/main/io/serial_cli.c

@@ -200,6 +200,7 @@ const clivalue_t valueTable[] = {
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, 50, 498 },
 
     { "retarded_arm",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.retarded_arm, 0, 1 },
+    { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE,  &masterConfig.disarm_kill_switch, 0, 1 },
     { "small_angle",                VAR_UINT8  | MASTER_VALUE,  &masterConfig.small_angle, 0, 180 },
 
     { "flaps_speed",                VAR_UINT8  | MASTER_VALUE,  &masterConfig.airplaneConfig.flaps_speed, 0, 100 },

src/main/mw.c

@@ -465,7 +465,7 @@ void processRx(void)
         resetErrorGyro();
     }
 
-    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm);
+    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
 
     if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
         updateInflightCalibrationState();