Copter: do not enter airmode when armed with switch

AntennaTracker/system.cpp

@@ -60,6 +60,7 @@ void Tracker::init_ardupilot()
 
     // initialise rc channels including setting mode
     rc().init();
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
 
     // initialise servos
     init_servos();

ArduCopter/AP_Arming.cpp

@@ -857,7 +857,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
     copter.ap.in_arming_delay = true;
 
     // assumed armed without a arming, switch. Overridden in switches.cpp
-    copter.ap.armed_with_switch = false;
+    copter.ap.armed_with_airmode_switch = false;
 
     // return success
     return true;

ArduCopter/Copter.h

@@ -364,7 +364,7 @@ class Copter : public AP_Vehicle {
             uint8_t initialised_params      : 1; // 24      // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
             uint8_t unused3                 : 1; // 25      // was compass_init_location; true when the compass's initial location has been set
             uint8_t unused2                 : 1; // 26      // aux switch rc_override is allowed
-            uint8_t armed_with_switch       : 1; // 27      // we armed using a arming switch
+            uint8_t armed_with_airmode_switch : 1; // 27      // we armed using a arming switch
         };
         uint32_t value;
     } ap_t;

ArduCopter/RC_Channel.cpp

@@ -91,6 +91,7 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
     case AUX_FUNC::AUTO_RTL:
     case AUX_FUNC::TURTLE:
     case AUX_FUNC::SIMPLE_HEADING_RESET:
+    case AUX_FUNC::ARMDISARM_AIRMODE:
         break;
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
@@ -135,16 +136,6 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
     }
 }
 
-void RC_Channel_Copter::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
-{
-    RC_Channel::do_aux_function_armdisarm(ch_flag);
-    if (copter.arming.is_armed()) {
-        // remember that we are using an arming switch, for use by
-        // set_throttle_zero_flag
-        copter.ap.armed_with_switch = true;
-    }
-}
-
 // do_aux_function - implement the function invoked by auxiliary switches
 bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
 {
@@ -583,6 +574,13 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             }
             break;
 
+        case AUX_FUNC::ARMDISARM_AIRMODE:
+            RC_Channel::do_aux_function_armdisarm(ch_flag);
+            if (copter.arming.is_armed()) {
+                copter.ap.armed_with_airmode_switch = true;
+            }
+            break;
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

ArduCopter/RC_Channel.h

@@ -16,7 +16,6 @@ class RC_Channel_Copter : public RC_Channel
 
 private:
 
-    void do_aux_function_armdisarm(const AuxSwitchPos ch_flag) override;
     void do_aux_function_change_mode(const Mode::Number mode,
                                      const AuxSwitchPos ch_flag);
     void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);

ArduCopter/radio.cpp

@@ -180,7 +180,7 @@ void Copter::set_throttle_zero_flag(int16_t throttle_control)
     // and we are flying. Immediately set as non-zero
     if ((!ap.using_interlock && (throttle_control > 0) && !SRV_Channels::get_emergency_stop()) ||
         (ap.using_interlock && motors->get_interlock()) ||
-        ap.armed_with_switch || air_mode == AirMode::AIRMODE_ENABLED) {
+        ap.armed_with_airmode_switch || air_mode == AirMode::AIRMODE_ENABLED) {
         last_nonzero_throttle_ms = tnow_ms;
         ap.throttle_zero = false;
     } else if (tnow_ms - last_nonzero_throttle_ms > THROTTLE_ZERO_DEBOUNCE_TIME_MS) {

ArduCopter/system.cpp

@@ -81,6 +81,7 @@ void Copter::init_ardupilot()
 
     // initialise rc channels including setting mode
     rc().init();
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE);
 
     // sets up motors and output to escs
     init_rc_out();

ArduPlane/AP_Arming.cpp

@@ -220,15 +220,6 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
         return false;
     }
 
-#if HAL_QUADPLANE_ENABLED
-    if ((method == Method::AUXSWITCH) && (plane.quadplane.options & QuadPlane::OPTION_AIRMODE)) {
-        // if no airmode switch assigned, honour the QuadPlane option bit:
-        if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr) {
-            plane.quadplane.air_mode = AirMode::ON;
-        }
-    }
-#endif
-
     change_arm_state();
 
     // rising edge of delay_arming oneshot

ArduPlane/RC_Channel.cpp

@@ -160,11 +160,16 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
     case AUX_FUNC::PARACHUTE_RELEASE:
     case AUX_FUNC::MODE_SWITCH_RESET:
     case AUX_FUNC::CRUISE:
+#if HAL_QUADPLANE_ENABLED
+    case AUX_FUNC::ARMDISARM_AIRMODE:
+#endif
         break;
 
-    case AUX_FUNC::Q_ASSIST:
     case AUX_FUNC::SOARING:
+#if HAL_QUADPLANE_ENABLED
+    case AUX_FUNC::Q_ASSIST:
     case AUX_FUNC::AIRMODE:
+#endif
 #if AP_AIRSPEED_AUTOCAL_ENABLE
     case AUX_FUNC::ARSPD_CALIBRATE:
 #endif
@@ -333,6 +338,14 @@ case AUX_FUNC::ARSPD_CALIBRATE:
         do_aux_function_change_mode(Mode::Number::CRUISE, ch_flag);
         break;
 
+#if HAL_QUADPLANE_ENABLED
+    case AUX_FUNC::ARMDISARM_AIRMODE:
+        RC_Channel::do_aux_function_armdisarm(ch_flag);
+        if (plane.arming.is_armed()) {
+            plane.quadplane.air_mode = AirMode::ON;
+        }
+        break;
+#endif
 
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);

ArduPlane/quadplane.cpp

@@ -309,7 +309,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: quadplane options
     // @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResponsition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning.
-    // @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandResponsition,18:Only allow arming in Qmodes or auto
+    // @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandResponsition,18:Only allow arming in Qmodes or auto
     AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
 
     AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),

ArduPlane/quadplane.h

@@ -546,7 +546,7 @@ class QuadPlane
         OPTION_IDLE_GOV_MANUAL=(1<<6),
         OPTION_Q_ASSIST_FORCE_ENABLE=(1<<7),
         OPTION_TAILSIT_Q_ASSIST_MOTORS_ONLY=(1<<8),
-        OPTION_AIRMODE=(1<<9),
+        OPTION_AIRMODE_UNUSED=(1<<9),
         OPTION_DISARMED_TILT=(1<<10),
         OPTION_DELAY_ARMING=(1<<11),
         OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST=(1<<12),

ArduPlane/system.cpp

@@ -36,6 +36,11 @@ void Plane::init_ardupilot()
 
     // initialise rc channels including setting mode
     rc().init();
+#if HAL_QUADPLANE_ENABLED
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, (quadplane.enabled() && (quadplane.options & QuadPlane::OPTION_AIRMODE_UNUSED) && (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr)) ? RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE : RC_Channel::AUX_FUNC::ARMDISARM);
+#else
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
+#endif
 
     relay.init();
 

ArduSub/system.cpp

@@ -63,6 +63,7 @@ void Sub::init_ardupilot()
 
     // initialise rc channels including setting mode
     rc().init();
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
 
     init_rc_in();               // sets up rc channels from radio
     init_rc_out();              // sets up motors and output to escs

Blimp/system.cpp

@@ -49,6 +49,7 @@ void Blimp::init_ardupilot()
 
     // initialise rc channels including setting mode
     rc().init();
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
 
     // sets up motors and output to escs
     init_rc_out();

Rover/system.cpp

@@ -131,6 +131,7 @@ void Rover::init_ardupilot()
 
     // initialise rc channels
     rc().init();
+    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
 
     rover.g2.sailboat.init();
 

Tools/autotest/common.py

@@ -7570,7 +7570,7 @@ def test_arm_feature(self):
 
             self.start_subtest("Test arm and disarm with switch")
             arming_switch = 7
-            self.set_parameter("RC%d_OPTION" % arming_switch, 41)
+            self.set_parameter("RC%d_OPTION" % arming_switch, 153)
             self.set_rc(arming_switch, 1000)
             # delay so a transition is seen by the RC switch code:
             self.delay_sim_time(0.5)
@@ -9582,7 +9582,7 @@ def test_button(self):
             return
 
         self.wait_ready_to_arm()
-        self.set_parameter("BTN_FUNC%u" % btn, 41)  # ARM/DISARM
+        self.set_parameter("BTN_FUNC%u" % btn, 153)  # ARM/DISARM
         self.set_parameter("SIM_PIN_MASK", mask)
         self.wait_armed()
         self.set_parameter("SIM_PIN_MASK", 0)

Tools/autotest/quadplane.py

@@ -117,11 +117,7 @@ def test_airmode(self):
         self.progress("Verify Motor1 is at min_pwm when disarmed")
         self.wait_servo_channel_value(5, min_pwm, comparator=operator.eq)
 
-        """set Q_OPTIONS bit AIRMODE"""
-        airmode_option_bit = (1 << 9)
-        self.set_parameter("Q_OPTIONS", airmode_option_bit)
-
-        armdisarm_option = 41
+        armdisarm_option = 154
         arm_ch = 8
         self.set_parameter("RC%d_OPTION" % arm_ch, armdisarm_option)
         self.progress("Configured RC%d as ARMDISARM switch" % arm_ch)
@@ -147,7 +143,7 @@ def test_airmode(self):
         if (spin_arm_pwm >= spin_min_pwm):
             raise PreconditionFailedException("SPIN_MIN pwm not greater than SPIN_ARM pwm")
 
-        self.start_subtest("Test auxswitch arming with Q_OPTIONS=AirMode")
+        self.start_subtest("Test auxswitch arming with AirMode Switch")
         for mode in ('QSTABILIZE', 'QACRO'):
             """verify that arming with switch results in higher PWM output"""
             self.progress("Testing %s mode" % mode)