From d96e85b2034b05caa9b2cace4eb4ff93a4b92a4c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 8 Sep 2018 12:35:18 +0900
Subject: [PATCH] Plane: use parent AP_Arming rudder value

---
 ArduPlane/AP_Arming.cpp  |  7 +------
 ArduPlane/AP_Arming.h    | 10 ----------
 ArduPlane/Parameters.cpp |  1 +
 ArduPlane/radio.cpp      |  6 +++---
 4 files changed, 5 insertions(+), 19 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 0bae9256eb..ebc9f5756f 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -8,12 +8,7 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
     // variables from parent vehicle
     AP_NESTEDGROUPINFO(AP_Arming, 0),
 
-    // @Param: RUDDER
-    // @DisplayName: Rudder Arming
-    // @Description: Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
-    // @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
-    // @User: Advanced
-    AP_GROUPINFO("RUDDER",       3,     AP_Arming_Plane,  rudder_arming_value,     ARMING_RUDDER_ARMONLY),
+    // index 3 was RUDDER and should not be used
 
     AP_GROUPEND
 };
diff --git a/ArduPlane/AP_Arming.h b/ArduPlane/AP_Arming.h
index 172354286d..c47c7c4cb7 100644
--- a/ArduPlane/AP_Arming.h
+++ b/ArduPlane/AP_Arming.h
@@ -15,26 +15,16 @@ public:
         AP_Param::setup_object_defaults(this, var_info);
     }
 
-    enum ArmingRudder {
-        ARMING_RUDDER_DISABLED  = 0,
-        ARMING_RUDDER_ARMONLY   = 1,
-        ARMING_RUDDER_ARMDISARM = 2
-    };
-
     /* Do not allow copies */
     AP_Arming_Plane(const AP_Arming_Plane &other) = delete;
     AP_Arming_Plane &operator=(const AP_Arming_Plane&) = delete;
 
     bool pre_arm_checks(bool report);
 
-    ArmingRudder rudder_arming() const { return (ArmingRudder)rudder_arming_value.get(); }
-
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
 protected:
     bool ins_checks(bool report);
 
-    // parameters
-    AP_Int8                 rudder_arming_value;
 };
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 3a1346cf79..33fa94e5a6 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1256,6 +1256,7 @@ const AP_Param::ConversionInfo conversion_table[] = {
     { Parameters::k_param_fs_batt_voltage,   0,      AP_PARAM_FLOAT,  "BATT_FS_LOW_VOLT" },
     { Parameters::k_param_fs_batt_mah,       0,      AP_PARAM_FLOAT,  "BATT_FS_LOW_MAH" },
 
+    { Parameters::k_param_arming,             3,      AP_PARAM_INT8,  "ARMING_RUDDER" },
 };
 
 void Plane::load_parameters(void)
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index 7eb977cd03..af96927398 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -109,9 +109,9 @@ void Plane::init_rc_out_aux()
 */
 void Plane::rudder_arm_disarm_check()
 {
-    AP_Arming_Plane::ArmingRudder arming_rudder = arming.rudder_arming();
+    AP_Arming::ArmingRudder arming_rudder = arming.rudder_arming();
 
-    if (arming_rudder == AP_Arming_Plane::ARMING_RUDDER_DISABLED) {
+    if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) {
         //parameter disallows rudder arming/disabling
         return;
     }
@@ -150,7 +150,7 @@ void Plane::rudder_arm_disarm_check()
 			// not at full right rudder
 			rudder_arm_timer = 0;
 		}
-	} else if (arming_rudder == AP_Arming_Plane::ARMING_RUDDER_ARMDISARM && !is_flying()) {
+	} else if ((arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM) && !is_flying()) {
 		// when armed and not flying, full left rudder starts disarming counter
 		if (channel_rudder->get_control_in() < -4000) {
 			uint32_t now = millis();