From 89366a1ee1faa67faefab19acf5cf7b1dd4e44ff Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 20 Dec 2013 11:59:45 +1100
Subject: [PATCH] Plane: fixed ARMING_REQUIRED=2 on APM2 to disable rc output
 on throttle

---
 ArduPlane/GCS_Mavlink.pde | 4 ++++
 ArduPlane/radio.pde       | 5 ++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index b49cb6b3c0..3a273fd6ee 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1259,6 +1259,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     // run pre_arm_checks and arm_checks and display failures
                     if (arming.arm(AP_Arming::MAVLINK)) {
                         //only log if arming was successful
+                        channel_throttle->enable_out();                        
                         Log_Arm_Disarm();
                         result = MAV_RESULT_ACCEPTED;
                     } else {
@@ -1267,6 +1268,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 } else if (packet.param1 == 0.0f)  {
                     if (arming.disarm()) {
                         //only log if disarming was successful
+                        if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) {
+                            channel_throttle->disable_out();  
+                        }
                         Log_Arm_Disarm();
                         result = MAV_RESULT_ACCEPTED;
                     } else {
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index c2320c5ac1..14735fc1b4 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -41,7 +41,9 @@ static void init_rc_out()
 {
     channel_roll->enable_out();
     channel_pitch->enable_out();
-    channel_throttle->enable_out();
+    if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) {
+        channel_throttle->enable_out();
+    }
     channel_rudder->enable_out();
     enable_aux_servos();
 
@@ -105,6 +107,7 @@ static void rudder_arm_check()
         } else {
             //time to arm!
             if (arming.arm(AP_Arming::RUDDER)) {
+                channel_throttle->enable_out();                        
                 //only log if arming was successful
                 Log_Arm_Disarm();
             }