From eb3aca7acfdbbbe7f5e06b40661f139c994d1cd6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 14 Oct 2020 14:25:41 +0900
Subject: [PATCH] Copter: add GUIDED_OPTIONS to allow arming from transmitter

---
 ArduCopter/Parameters.cpp  |  9 +++++++++
 ArduCopter/Parameters.h    |  4 ++++
 ArduCopter/mode.h          |  7 ++++++-
 ArduCopter/mode_guided.cpp | 11 +++++++++++
 4 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 75cccef350..6f9ba5bfbc 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -985,6 +985,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_GROUPINFO("AUTO_OPTIONS", 40, ParametersG2, auto_options, 0),
 #endif
 
+#if MODE_GUIDED_ENABLED == ENABLED
+    // @Param: GUIDED_OPTIONS
+    // @DisplayName: Guided mode options
+    // @Description: Options that can be applied to change guided mode behaviour
+    // @Bitmask: 0:Allow Arming from Transmitter
+    // @User: Advanced
+    AP_GROUPINFO("GUIDED_OPTIONS", 41, ParametersG2, guided_options, 0),
+#endif
+
     AP_GROUPEND
 };
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 0f584e5a69..9c8f67ecc2 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -623,6 +623,10 @@ public:
     AP_Int32 auto_options;
 #endif
 
+#if MODE_GUIDED_ENABLED == ENABLED
+    AP_Int32 guided_options;
+#endif
+
 };
 
 extern const AP_Param::Info        var_info[];
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index e98f18f288..472c7a07f1 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -794,7 +794,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return from_gcs; }
+    bool allows_arming(bool from_gcs) const override;
     bool is_autopilot() const override { return true; }
     bool has_user_takeoff(bool must_navigate) const override { return true; }
     bool in_guided_mode() const override { return true; }
@@ -833,6 +833,11 @@ protected:
 
 private:
 
+    // enum for GUIDED_OPTIONS parameter
+    enum class Options : int32_t {
+        AllowArmingFromTX = (1 << 0U),
+    };
+
     void pos_control_start();
     void vel_control_start();
     void posvel_control_start();
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 5a8cd3538e..28129c8fa3 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -384,6 +384,17 @@ void ModeGuided::run()
     }
  }
 
+bool ModeGuided::allows_arming(bool from_gcs) const
+{
+    // always allow arming from the ground station
+    if (from_gcs) {
+        return true;
+    }
+
+    // optionally allow arming from the transmitter
+    return (copter.g2.guided_options & (int32_t)Options::AllowArmingFromTX) != 0;
+};
+
 // guided_takeoff_run - takeoff in guided mode
 //      called by guided_run at 100hz or more
 void ModeGuided::takeoff_run()