Remove killswitch

docs/Settings.md

@@ -672,9 +672,9 @@ Defines debug values exposed in debug variables (developer / debugging setting)
 
 ---
 
-### disarm_kill_switch
+### disarm_always
 
-Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.
+Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low.
 
 | Default | Min | Max |
 | --- | --- | --- |

docs/development/Blackbox Internals.md

@@ -566,7 +566,6 @@ The log end marker is an optional Event ("E") frame of type 0xFF whose payload i
 <li> Sticks</li>
 <li> Switch_3D</li>
 <li> Switch</li>
-<li> Killswitch</li>
 <li> Failsafe</li>
 <li> Navigation</li>
 </ol>

src/main/fc/fc_core.c

@@ -307,14 +307,6 @@ static void updateArmingStatus(void)
             DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXFAILSAFE);
         }
 
-        /* CHECK: BOXKILLSWITCH */
-        if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
-            ENABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
-        }
-        else {
-            DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
-        }
-
         /* CHECK: Do not allow arming if Servo AutoTrim is enabled */
         if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
            ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
@@ -525,7 +517,7 @@ bool emergInflightRearmEnabled(void)
     timeMs_t currentTimeMs = millis();
     emergRearmStabiliseTimeout = 0;
 
-    if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) ||
+    if ((lastDisarmReason != DISARM_SWITCH) ||
         (currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
         return false;
     }

src/main/fc/fc_core.h

@@ -27,7 +27,6 @@ typedef enum disarmReason_e {
     DISARM_STICKS       = 2,
     DISARM_SWITCH_3D    = 3,
     DISARM_SWITCH       = 4,
-    DISARM_KILLSWITCH   = 5,
     DISARM_FAILSAFE     = 6,
     DISARM_NAVIGATION   = 7,
     DISARM_LANDING      = 8,

src/main/fc/fc_msp.c

@@ -670,11 +670,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, getRSSI());
         break;
 
-    case MSP_ARMING_CONFIG:
-        sbufWriteU8(dst, 0);
-        sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
-        break;
-
     case MSP_LOOP_TIME:
         sbufWriteU16(dst, gyroConfig()->looptime);
         break;
@@ -1828,14 +1823,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 #endif
 
-    case MSP_SET_ARMING_CONFIG:
-        if (dataSize == 2) {
-            sbufReadU8(src); //Swallow the first byte, used to be auto_disarm_delay
-            armingConfigMutable()->disarm_kill_switch = !!sbufReadU8(src);
-        } else
-            return MSP_RESULT_ERROR;
-        break;
-
     case MSP_SET_LOOP_TIME:
         if (sbufReadU16Safe(&tmp_u16, src))
             gyroConfigMutable()->looptime = tmp_u16;

src/main/fc/fc_msp_box.c

@@ -76,7 +76,6 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { .boxId = BOXTURNASSIST,       .boxName = "TURN ASSIST",       .permanentId = 35 },
     { .boxId = BOXNAVLAUNCH,        .boxName = "NAV LAUNCH",        .permanentId = 36 },
     { .boxId = BOXAUTOTRIM,         .boxName = "SERVO AUTOTRIM",    .permanentId = 37 },
-    { .boxId = BOXKILLSWITCH,       .boxName = "KILLSWITCH",        .permanentId = 38 },
     { .boxId = BOXCAMERA1,          .boxName = "CAMERA CONTROL 1",  .permanentId = 39 },
     { .boxId = BOXCAMERA2,          .boxName = "CAMERA CONTROL 2",  .permanentId = 40 },
     { .boxId = BOXCAMERA3,          .boxName = "CAMERA CONTROL 3",  .permanentId = 41 },
@@ -320,7 +319,6 @@ void initActiveBoxIds(void)
     }
 #endif
 
-    ADD_ACTIVE_BOX(BOXKILLSWITCH);
     ADD_ACTIVE_BOX(BOXFAILSAFE);
 
 #if defined(USE_RCDEVICE) || defined(USE_MSP_DISPLAYPORT)
@@ -405,7 +403,6 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
     CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)),          BOXNAVLAUNCH);
     CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)),                BOXAUTOTUNE);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)),        BOXAUTOTRIM);
-    CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)),      BOXKILLSWITCH);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)),       BOXHOMERESET);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)),         BOXCAMERA1);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)),         BOXCAMERA2);

src/main/fc/rc_controls.c

@@ -87,11 +87,11 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
     .airmodeThrottleThreshold = SETTING_AIRMODE_THROTTLE_THRESHOLD_DEFAULT,
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 3);
 
 PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
     .fixed_wing_auto_arm = SETTING_FIXED_WING_AUTO_ARM_DEFAULT,
-    .disarm_kill_switch = SETTING_DISARM_KILL_SWITCH_DEFAULT,
+    .disarm_always = SETTING_DISARM_ALWAYS_DEFAULT,
     .switchDisarmDelayMs = SETTING_SWITCH_DISARM_DELAY_DEFAULT,
     .prearmTimeoutMs = SETTING_PREARM_TIMEOUT_DEFAULT,
 );
@@ -231,7 +231,7 @@ void processRcStickPositions(bool isThrottleLow)
             if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
                 const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
                 if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
-                    if (armingConfig()->disarm_kill_switch || isThrottleLow) {
+                    if (armingConfig()->disarm_always || isThrottleLow) {
                         disarm(DISARM_SWITCH);
                     }
                 }
@@ -240,11 +240,6 @@ void processRcStickPositions(bool isThrottleLow)
                 rcDisarmTimeMs = currentTimeMs;
             }
         }
-
-        // KILLSWITCH disarms instantly
-        if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
-            disarm(DISARM_KILLSWITCH);
-        }
     }
 
     if (rcDelayCommand != 20) {

src/main/fc/rc_controls.h

@@ -95,7 +95,7 @@ PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 
 typedef struct armingConfig_s {
     bool fixed_wing_auto_arm;               // Auto-arm fixed wing aircraft on throttle up and never disarm
-    bool disarm_kill_switch;                // allow disarm via AUX switch regardless of throttle value
+    bool disarm_always;                     // Disarm motors regardless of throttle value
     uint16_t switchDisarmDelayMs;           // additional delay between ARM box going off and actual disarm
     uint16_t prearmTimeoutMs;               // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
 } armingConfig_t;

src/main/fc/rc_modes.h

@@ -49,7 +49,6 @@ typedef enum {
     BOXAIRMODE       = 20,
     BOXHOMERESET     = 21,
     BOXGCSNAV        = 22,
-    BOXKILLSWITCH    = 23,   // old HEADING LOCK
     BOXSURFACE       = 24,
     BOXFLAPERON      = 25,
     BOXTURNASSIST    = 26,

src/main/fc/runtime_config.c

@@ -34,7 +34,7 @@ static EXTENDED_FASTRAM uint32_t enabledSensors = 0;
 #if !defined(CLI_MINIMAL_VERBOSITY)
 const char *armingDisableFlagNames[]= {
     "FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS",
-    "ACC", "ARMSW", "HWFAIL", "BOXFS", "KILLSW", "RX",
+    "ACC", "ARMSW", "HWFAIL", "BOXFS", "RX",
     "THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
     "SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED"
 };
@@ -50,7 +50,6 @@ const armingFlag_e armDisableReasonsChecklist[] = {
     ARMING_DISABLED_NAVIGATION_UNSAFE,
     ARMING_DISABLED_ARM_SWITCH,
     ARMING_DISABLED_BOXFAILSAFE,
-    ARMING_DISABLED_BOXKILLSWITCH,
     ARMING_DISABLED_THROTTLE,
     ARMING_DISABLED_CLI,
     ARMING_DISABLED_CMS_MENU,

src/main/fc/runtime_config.h

@@ -34,7 +34,7 @@ typedef enum {
     ARMING_DISABLED_ARM_SWITCH                      = (1 << 14),
     ARMING_DISABLED_HARDWARE_FAILURE                = (1 << 15),
     ARMING_DISABLED_BOXFAILSAFE                     = (1 << 16),
-    ARMING_DISABLED_BOXKILLSWITCH                   = (1 << 17),
+
     ARMING_DISABLED_RC_LINK                         = (1 << 18),
     ARMING_DISABLED_THROTTLE                        = (1 << 19),
     ARMING_DISABLED_CLI                             = (1 << 20),
@@ -53,7 +53,7 @@ typedef enum {
                                                        ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
                                                        ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
                                                        ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
-                                                       ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
+                                                       ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
                                                        ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
                                                        ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
                                                        ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |

src/main/fc/settings.yaml

@@ -1496,8 +1496,8 @@ groups:
         description: "Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured."
         default_value: OFF
         type: bool
-      - name: disarm_kill_switch
-        description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel."
+      - name: disarm_always
+        description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low."
         default_value: ON
         type: bool
       - name: switch_disarm_delay

src/main/io/osd.c

@@ -902,8 +902,6 @@ static const char * osdArmingDisabledReasonMessage(void)
             return OSD_MESSAGE_STR(OSD_MSG_HW_FAIL);
         case ARMING_DISABLED_BOXFAILSAFE:
             return OSD_MESSAGE_STR(OSD_MSG_FS_EN);
-        case ARMING_DISABLED_BOXKILLSWITCH:
-            return OSD_MESSAGE_STR(OSD_MSG_KILL_SW_EN);
         case ARMING_DISABLED_RC_LINK:
             return OSD_MESSAGE_STR(OSD_MSG_NO_RC_LINK);
         case ARMING_DISABLED_THROTTLE:
@@ -4424,7 +4422,8 @@ static void osdUpdateStats(void)
 
 static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
 {
-    const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "KILLSW", "FAILSAFE", "NAV SYS", "LANDING"};
+    //We keep "" for backward compatibility with the Blackbox explorer and other potential usages
+    const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "", "FAILSAFE", "NAV SYS", "LANDING"};
     uint8_t top = 1;  // Start one line down leaving space at the top of the screen. 
     size_t multiValueLengthOffset = 0;
 

src/main/io/osd.h

@@ -75,7 +75,6 @@
 #define OSD_MSG_PITOT_FAIL          "PITOT METER FAILURE"
 #define OSD_MSG_HW_FAIL             "HARDWARE FAILURE"
 #define OSD_MSG_FS_EN               "FAILSAFE MODE ENABLED"
-#define OSD_MSG_KILL_SW_EN          "KILLSWITCH MODE ENABLED"
 #define OSD_MSG_NO_RC_LINK          "NO RC LINK"
 #define OSD_MSG_THROTTLE_NOT_LOW    "THROTTLE IS NOT LOW"
 #define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"

src/main/io/osd_dji_hd.c

@@ -505,8 +505,6 @@ static char * osdArmingDisabledReasonMessage(void)
         //     return OSD_MESSAGE_STR("HARDWARE FAILURE");
         case ARMING_DISABLED_BOXFAILSAFE:
             return OSD_MESSAGE_STR("FAILSAFE ENABLED");
-        case ARMING_DISABLED_BOXKILLSWITCH:
-            return OSD_MESSAGE_STR("KILLSWITCH ENABLED");
         case ARMING_DISABLED_RC_LINK:
             return OSD_MESSAGE_STR("NO RC LINK");
         case ARMING_DISABLED_THROTTLE:

src/main/msp/msp_protocol.h

@@ -163,9 +163,6 @@
 
 #define MSP_SONAR_ALTITUDE              58 //out message get surface altitude [cm]
 
-#define MSP_ARMING_CONFIG               61 //out message         Returns auto_disarm_delay and disarm_kill_switch parameters
-#define MSP_SET_ARMING_CONFIG           62 //in message          Sets auto_disarm_delay and disarm_kill_switch parameters
-
 //
 // Baseflight MSP commands (if enabled they exist in Cleanflight)
 //

src/test/unit/flight_failsafe_unittest.cc.txt

@@ -297,62 +297,6 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
     EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
 }
 
-/****************************************************************************************/
-TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
-{
-    // given
-    ENABLE_ARMING_FLAG(ARMED);
-    resetCallCounters();
-    failsafeStartMonitoring();
-
-    // and
-    throttleStatus = THROTTLE_HIGH;                 // throttle HIGH to go for a failsafe landing procedure
-    failsafeConfig.failsafe_kill_switch = 1;        // configure AUX switch as kill switch
-    ACTIVATE_RC_MODE(BOXFAILSAFE);                  // and activate it
-    sysTickUptime = 0;                              // restart time from 0
-    failsafeOnValidDataReceived();                  // set last valid sample at current time
-    sysTickUptime = PERIOD_RXDATA_FAILURE + 1;      // adjust time to point just past the failure time to
-    failsafeOnValidDataFailed();                    // cause a lost link
-
-    // when
-    failsafeUpdateState();                          // kill switch handling should come first
-
-    // then
-    EXPECT_EQ(true, failsafeIsActive());
-    EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
-    EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
-    EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
-
-    // given
-    failsafeOnValidDataFailed();                    // set last invalid sample at current time
-    sysTickUptime += PERIOD_RXDATA_RECOVERY + 1;    // adjust time to point just past the recovery time to
-    failsafeOnValidDataReceived();                  // cause a recovered link
-
-    rcModeActivationMask = DE_ACTIVATE_ALL_BOXES;   // BOXFAILSAFE must be off (kill switch)
-
-    // when
-    failsafeUpdateState();
-
-    // then
-    EXPECT_EQ(true, failsafeIsActive());
-    EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
-    EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
-    EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
-
-    // given
-    sysTickUptime += PERIOD_OF_1_SECONDS + 1;       // adjust time to point just past the required additional recovery time
-    failsafeOnValidDataReceived();
-
-    // when
-    failsafeUpdateState();
-
-    // then
-    EXPECT_EQ(false, failsafeIsActive());
-    EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
-    EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));  // disarm not called repeatedly.
-    EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
-}
-
 /****************************************************************************************/
 //
 // Additional non-stepwise tests