Delay allowing sticky modes

On bootup aux channels start out at default and allow sticky modes right away,
although they should only be allowed once they are actually not active.

_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._

src/main/fc/rc_modes.c

@@ -28,6 +28,7 @@
 
 #include "common/bitarray.h"
 #include "common/maths.h"
+#include "drivers/time.h"
 
 #include "config/feature.h"
 #include "pg/pg.h"
@@ -112,7 +113,7 @@ void updateActivatedModes(void)
                 if (paralyzeModeEverDisabled) {
                     updateMasksForMac(mac, &andMask, &newMask);
                 } else {
-                    paralyzeModeEverDisabled = !isRangeActive(mac->auxChannelIndex, &mac->range);
+                    paralyzeModeEverDisabled = micros() >= 5e6 && !isRangeActive(mac->auxChannelIndex, &mac->range);
                 }
             }
         } else if (mode < CHECKBOX_ITEM_COUNT) {

src/test/unit/arming_prevention_unittest.cc

@@ -616,7 +616,7 @@ TEST(ArmingPreventionTest, ParalyzeOnAtBoot)
 {
     // given
     simulationFeatureFlags = 0;
-    simulationTime = 30e6; // 30 seconds after boot
+    simulationTime = 0;
     gyroCalibDone = true;
 
     // and
@@ -660,7 +660,7 @@ TEST(ArmingPreventionTest, Paralyze)
 {
     // given
     simulationFeatureFlags = 0;
-    simulationTime = 30e6; // 30 seconds after boot
+    simulationTime = 0;
     gyroCalibDone = true;
 
     // and
@@ -686,7 +686,7 @@ TEST(ArmingPreventionTest, Paralyze)
     // given
     rcData[THROTTLE] = 1000;
     rcData[AUX1] = 1000;
-    rcData[AUX2] = 1000;
+    rcData[AUX2] = 1800; // Start out with paralyze enabled
     rcData[AUX3] = 1000;
     ENABLE_STATE(SMALL_ANGLE);
 
@@ -726,9 +726,28 @@ TEST(ArmingPreventionTest, Paralyze)
     EXPECT_FALSE(ARMING_FLAG(ARMED));
     EXPECT_FALSE(isArmingDisabled());
     EXPECT_EQ(0, getArmingDisableFlags());
+    EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
 
     // given
-    // paralyze (and activate linked vtx pit mode)
+    simulationTime = 10e6; // 10 seconds after boot
+
+    // when
+    updateActivatedModes();
+
+    // expect
+    EXPECT_FALSE(ARMING_FLAG(ARMED));
+    EXPECT_FALSE(isArmingDisabled());
+    EXPECT_EQ(0, getArmingDisableFlags());
+    EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
+
+    // given
+    // disable paralyze once after the startup timer
+    rcData[AUX2] = 1000;
+
+    // when
+    updateActivatedModes();
+
+    // enable paralyze again
     rcData[AUX2] = 1800;
 
     // when
@@ -738,6 +757,7 @@ TEST(ArmingPreventionTest, Paralyze)
     // expect
     EXPECT_TRUE(isArmingDisabled());
     EXPECT_EQ(ARMING_DISABLED_PARALYZE, getArmingDisableFlags());
+    EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
     EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXVTXPITMODE));
     EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXBEEPERON));
 

src/test/unit/flight_failsafe_unittest.cc

@@ -555,6 +555,11 @@ uint32_t millis(void)
     return sysTickUptime;
 }
 
+uint32_t micros(void)
+{
+    return millis() * 1000;
+}
+
 throttleStatus_e calculateThrottleStatus()
 {
     return throttleStatus;

src/test/unit/rc_controls_unittest.cc

@@ -224,6 +224,10 @@ extern "C" {
 uint32_t millis(void) {
     return fixedMillis;
 }
+
+uint32_t micros(void) {
+    return fixedMillis * 1000;
+}
 }
 
 void resetMillis(void) {

src/test/unit/rcdevice_unittest.cc

@@ -888,6 +888,7 @@ extern "C" {
     }
     
     uint32_t millis(void) { return testData.millis++; }
+    uint32_t micros(void) { return millis() * 1000; }
     void beeper(beeperMode_e mode) { UNUSED(mode); }
     uint8_t armingFlags = 0;
     bool cmsInMenu;