From 14d9e932ab5330df0c401ea54364a1d3f04a3da5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 22 Nov 2017 17:39:16 +0900
Subject: [PATCH] Rover: allow disarming from transmitter on skid-steering
 vehicles

---
 APMrover2/control_modes.cpp | 19 ++++++++++++++-----
 APMrover2/radio.cpp         |  4 +---
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index 8ec5ae9988..bc2a27fa6d 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -186,13 +186,22 @@ void Rover::read_aux_switch()
     }
 }
 
+// return true if motors are moving
 bool Rover::motor_active()
 {
-    // Check if armed and output throttle servo is not neutral
-    if (hal.util->get_soft_armed()) {
-        if (!is_zero(g2.motors.get_throttle())) {
-            return true;
-        }
+    // if soft disarmed, motors not active
+    if (!hal.util->get_soft_armed()) {
+        return false;
+    }
+
+    // check throttle is active
+    if (!is_zero(g2.motors.get_throttle())) {
+        return true;
+    }
+
+    // skid-steering vehicles active when steering
+    if (g2.motors.have_skid_steering() && !is_zero(g2.motors.get_steering())) {
+        return true;
     }
 
     return false;
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index d418ebc6e7..58394b25b7 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -77,10 +77,8 @@ void Rover::rudder_arm_disarm_check()
             // not at full right rudder
             rudder_arm_timer = 0;
         }
-    } else if (!motor_active() && !g2.motors.have_skid_steering()) {
+    } else if (!motor_active()) {
         // when armed and motor not active (not moving), full left rudder starts disarming counter
-        // This is disabled for skid steering otherwise when tring to turn a skid steering rover around
-        // the rover would disarm
         if (channel_steer->get_control_in() < -4000) {
             const uint32_t now = millis();