From fc7f4d517983547b9b662e55cdb767ce92f4c804 Mon Sep 17 00:00:00 2001
From: oleost <oleost@gmail.com>
Date: Sun, 17 Jul 2016 20:42:10 +0200
Subject: [PATCH] Changed arming procedure for fixedwing.

With Fixedwing and motorstop enable it auto arms as soon as throttle as above throttle_low.
Also disarming is disabled. (Must cycle power for it to disarm)

Without motorstop there is normal disarm/arming procedure.
---
 src/main/fc/rc_controls.c | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 71d947c8b..b8aafca70 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -195,17 +195,23 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
         return;
     }
 
-    if (isUsingSticksToArm) {
+   if (isUsingSticksToArm) {
         // Disarm on throttle down + yaw
         if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
+            // Dont disarm if fixedwing and motorstop
+            if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP)) {
+            return;
+		}
+		else {
             if (ARMING_FLAG(ARMED))
                 mwDisarm();
             else {
                 beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
                 rcDelayCommand = 0;              // reset so disarm tone will repeat
+                }
             }
         }
-    }
+   }
 
     if (ARMING_FLAG(ARMED)) {
         // actions during armed
@@ -246,6 +252,16 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
         }
     }
 
+// Auto arm on throttle when using fixedwing and motorstop
+    if (isUsingSticksToArm) {
+
+        if ((!throttleStatus == THROTTLE_LOW) && (STATE(FIXED_WING)) && (feature(FEATURE_MOTOR_STOP))) {
+            // Arm via YAW
+            mwArm();
+            return;
+        }
+    }
+
     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
         // Calibrating Acc
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);