From 8a75827d6a97893f9dead450771bb8701507fc76 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 28 Nov 2016 11:29:58 +0100
Subject: [PATCH] fixed all comments of arm button review

---
 src/modules/commander/commander.cpp      | 36 +++++++++++++-----------
 src/modules/commander/commander_params.c |  4 +--
 2 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index e29121425d..6950a4715e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2569,7 +2569,7 @@ int commander_thread_main(int argc, char *argv[])
 			    	internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
 			    	internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
 			    	land_detector.landed) &&
-			    ((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || ((bool)arm_switch_is_button && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
+			    ((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
 
 				if (stick_off_counter > rc_arm_hyst) {
 					/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
@@ -2704,23 +2704,27 @@ int commander_thread_main(int argc, char *argv[])
 			}
 			/* no else case: do not change lockdown flag in unconfigured case */
 
-			/* check arm switch */
-			/* we change the switch from disarm to arm */
-			if (arm_switch_is_button == 0 && _last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
-				if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "arm switch")) {
-					mavlink_log_info(&mavlink_log_pub, "arming failed");
-				} else {
-					arming_state_changed = true;
-				}
-			/* we change the switch from arm to disarm */
-			} else if (arm_switch_is_button == 0 && _last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
-				if (TRANSITION_CHANGED != arm_disarm(false, &mavlink_log_pub, "arm switch")) {
-					mavlink_log_info(&mavlink_log_pub, "rejected disarm");
-				} else {
-					arming_state_changed = true;
+			/* check arm switch if it is not used as button */
+			if (arm_switch_is_button == 0) {
+				/* transition of the switch from disarm to arm */
+				if (_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF &&
+						sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+					if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "arm switch")) {
+						mavlink_log_info(&mavlink_log_pub, "arming by switch failed");
+					} else {
+						arming_state_changed = true;
+					}
+				/* transition of the switch from arm to disarm */
+				} else if (_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON &&
+						sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+					if (TRANSITION_CHANGED != arm_disarm(false, &mavlink_log_pub, "arm switch")) {
+						mavlink_log_info(&mavlink_log_pub, "rejected disarming by switch");
+					} else {
+						arming_state_changed = true;
+					}
 				}
+				/* no else case: do not change arming here if arm switch unconfigured */
 			}
-			/* no else case: do not change arming here if arm switch unconfigured */
 			_last_sp_man_arm_switch = sp_man.arm_switch;
 		} else {
 			if (!status_flags.rc_input_blocked && !status.rc_signal_lost) {
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index a02b047456..fa0ee0fd01 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -280,7 +280,7 @@ PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
 PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
 
 /**
- * Use arm switch is only a button
+ * Arm switch is only a button
  *
  * The default uses the arm switch as real switch.
  * If parameter set button gets handled like stick arming.
@@ -289,7 +289,7 @@ PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
  * @min 0
  * @max 1
  * @value 0 Arm switch is a switch that stays on when armed
- * @value 1 Arm switch is a button that only triggers arming
+ * @value 1 Arm switch is a button that only triggers arming and disarming
  */
 PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);