ManualControl: add parameter to disable arm/disarm stick gesture

src/modules/manual_control/ManualControl.cpp

@@ -267,7 +267,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
 	const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
 	_stick_arm_hysteresis.set_state_and_update(left_stick_lower_right && right_stick_centered, input.timestamp);
 
-	if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
+	if (_param_man_arm_gesture.get() && !previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
 		sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_STICK_GESTURE);
 	}
 
@@ -277,7 +277,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
 	const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
 	_stick_disarm_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_centered, input.timestamp);
 
-	if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
+	if (_param_man_arm_gesture.get() && !previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
 		sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE);
 	}
 }

src/modules/manual_control/ManualControl.hpp

@@ -120,6 +120,7 @@ private:
 		(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
 		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
 		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
+		(ParamBool<px4::params::MAN_ARM_GESTURE>) _param_man_arm_gesture,
 		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_com_rc_arm_hyst,
 		(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
 		(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,

src/modules/manual_control/manual_control_params.c

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Enable arm/disarm stick gesture
+ *
+ * This determines if moving the left stick to the lower right
+ * arms and to the lower left disarms the vehicle.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Manual Control
+ */
+PARAM_DEFINE_INT32(MAN_ARM_GESTURE, 1);