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Keep arm status over MSP if in emergency re-arm period #10462

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Keep arm status over MSP if in emergency re-arm period #10462

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5311894
Keep arm status over MSP if emergency rearm is active
MrD-RC Oct 2, 2024
9151052
Merge branch 'master' into MrD_Keep-arm-status-over-MSP-if-in-emergen…
MrD-RC Oct 30, 2024
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1 change: 1 addition & 0 deletions src/main/fc/fc_core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ void tryArm(void);
disarmReason_t getDisarmReason(void);

bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
bool emergInflightRearmEnabled(void);

bool areSensorsCalibrating(void);
float getFlightTime(void);
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28 changes: 28 additions & 0 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -448,9 +448,23 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, getConfigProfile());

if (cmdMSP == MSP_STATUS_EX) {
#if defined(USE_OSD) && defined(USE_MSP_OSD)
bool armingBit = bitArrayGet(mspBoxModeFlags.bits, BOXARM);
// If we are in emergency re-arm period and using MSP DisplayPort OSD, show that we are still Armed to prevent the VTX entering low power mode
if (feature(FEATURE_OSD) && emergInflightRearmEnabled())
bitArraySet(mspBoxModeFlags.bits, BOXARM);
#endif

sbufWriteU16(dst, averageSystemLoadPercent);
sbufWriteU16(dst, armingFlags);
sbufWriteU8(dst, accGetCalibrationAxisFlags());

#if defined(USE_OSD) && defined(USE_MSP_OSD)
if (armingBit)
bitArraySet(mspBoxModeFlags.bits, BOXARM);
else
bitArrayClr(mspBoxModeFlags.bits, BOXARM);
#endif
}
}
break;
Expand All @@ -467,12 +481,26 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#else
sbufWriteU16(dst, 0);
#endif

#if defined(USE_OSD) && defined(USE_MSP_OSD)
bool armingBit = bitArrayGet(mspBoxModeFlags.bits, BOXARM);
// If we are in emergency re-arm period and using MSP DisplayPort OSD, show that we are still Armed to prevent the VTX entering low power mode
if (feature(FEATURE_OSD) && emergInflightRearmEnabled())
bitArraySet(mspBoxModeFlags.bits, BOXARM);
#endif
sbufWriteU16(dst, packSensorStatus());
sbufWriteU16(dst, averageSystemLoadPercent);
sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
sbufWriteU32(dst, armingFlags);
sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
sbufWriteU8(dst, getConfigMixerProfile());

#if defined(USE_OSD) && defined(USE_MSP_OSD)
if (armingBit)
bitArraySet(mspBoxModeFlags.bits, BOXARM);
else
bitArrayClr(mspBoxModeFlags.bits, BOXARM);
#endif
}
break;

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