Add option to allow force arming with the rudder stick

ArduCustom · Mar 5, 2025 · 969e989 · 969e989
1 parent 217b900
commit 969e989
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Showing 3 changed files with 10 additions and 1 deletion.
diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
@@ -296,7 +296,7 @@ void AP_Arming_Plane::change_arm_state(void)
 #endif
 }
 
-bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_checks)
+bool AP_Arming_Plane::arm(const AP_Arming::Method method, bool do_arming_checks)
 {
     if (throttle_cut) {
         if (throttle_cut_prev_mode && plane.control_mode == &plane.mode_fbwa) {
@@ -308,6 +308,10 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
         return true;
     }
 
+    if (method == AP_Arming::Method::AUXSWITCH && plane.g2.rc_channels.allow_force_arming() && fabsf(plane.channel_rudder->norm_input()) > 0.5f) {
+        do_arming_checks = false;
+    }
+
     if (!AP_Arming::arm(method, do_arming_checks)) {
         return false;
     }

diff --git a/ArduPlane/RC_Channel.h b/ArduPlane/RC_Channel.h
@@ -62,6 +62,10 @@ class RC_Channels_Plane : public RC_Channels
         return get_singleton() != nullptr && (_options & uint32_t(Option::PLANE_SWITCH_TO_MANUAL_AFTER_DISARMING));
     }
 
+    bool allow_force_arming(void) const {
+        return get_singleton() != nullptr && (_options & uint32_t(Option::ALLOW_FORCE_ARMING));
+    }
+
     RC_Channel *get_arming_channel(void) const override;
 
 protected:

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
@@ -624,6 +624,7 @@ class RC_Channels {
         USE_CRSF_LQ_AS_RSSI     = (1U << 11), // returns CRSF link quality as RSSI value, instead of RSSI
         CRSF_FM_DISARM_STAR     = (1U << 12), // when disarmed, add a star at the end of the flight mode in CRSF telemetry
         ELRS_420KBAUD           = (1U << 13), // use 420kbaud for ELRS protocol
+        ALLOW_FORCE_ARMING      = (1U << 19), // plane only: allow bypassing arming checks with yaw stick
         AUTO_SWITCH_TO_FBWA_WITH_STICKS  = (1U << 20), // plane only: switch to FBWA when in AUTO and moving sticks more than 10%
         PLANE_SWITCH_TO_MANUAL_AFTER_DISARMING  = (1U << 21), // plane only: switch to manual after disarming and re-read mode switch when arming
         PLANE_DISABLE_MAN_BAT_COMP  = (1U << 22), // plane only: disable throttle battery voltage compensation in manual mode