V4.0 Arming updates

.wordlist.txt

@@ -537,6 +537,8 @@ USPTO
 Squadding
 UAV
 UAVfutures
+Ardupilot
+Emuflight
 ASpd
 EGT
 MUSTARDTIGER
@@ -550,3 +552,4 @@ spuriously
 unambiguously
 injunctive
 counsel
+Rotorflight

docs/quick-start/transmitters/tx-prep.md

@@ -310,9 +310,86 @@ ExpressLRS uses the CRSF serial protocol to communicate between the transmitter
 
     Set the Internal RF module to Off, and set the External RF module to CRSF protocol, as any External RF module requires.
 
+### Version 4.0 Arming Options
+
+Starting with ExpressLRS v4.0.0 an additional Arming method is introduced.
+
+!!! info "What's so important with Arming?"
+    ExpressLRS checks for a switch position to determine what safeguards or performance boosts will be active to prevent disconnections, especially when the receiver is on a flying/moving RC aircraft or vehicle. See [The Importance of Arming](../../software/switch-config.md#whats-so-important-with-arming) for an in-depth explanation.
+
+The traditional Arming method, using Channel 5 (Aux1) driven by EdgeTX Mixer's Channel 5 is the default and is still encouraged to be used by majority of FPV pilots using Betaflight, INAV or Ardupilot (and their respective derivatives like Emuflight, Rotorflight, etc.) more so when using non-Full Res modes. This is because you are still required to have a mode for arming using an Aux channel. This will now be called **Arm using CH5** and is set by EdgeTX (2.11 or newer) as default.
+
+<figure markdown>
+![Arming Color](../../assets/images/armingSwitch01.png)
+</figure>
+
+See the [next section](#switches-and-aux-channels) on how to configure your Channel Mixes.
+
+!!! Tip "**Arm using Switch** Requirements"
+    Arm using Switch **requires** EdgeTX version 2.11 or newer and ExpressLRS version 4.0 or newer. If you cannot find the "Arm using" option you need to update your EdgeTX and/or ExpressLRS firmware.
+
+The alternative Arming method, **Arm using switch** is more suited to users who aren't familiar with drone-side arming concept, or primarily those using PWM receivers. **Arm using Switch** is performed by user selected sources, e.g. physical or logical switches, anything EdgeTX offers as a source. It works in all packet rates and switch modes, with varying channel reactions, explained below. 
+
+When in Full Res modes, Channel 5 will behave as any of the other full proportional channels. This means:
+
+- No need to remap Output 5 with other channel input sources.
+- No need to skip Output 5 on your PWM receivers if you don't know how to remap outputs.
+- SBUS-dependent Stabilizer gain control requiring Channel 5 will work now.
+- Flight Modes requiring Channel 5 will also work.
+
+When not in Full Res mode, Channel 5 will behave as a 2-position switch, but it will not use the configured Mix for Channel 5 and instead use the configured arming switch as the Channel source.
+
+!!! Note "Hybrid and Wide Switch Modes"
+    With **Arm using Switch** selected, the min and max values for Channel 5 will still come from the switch you have selected for arming, and will still function as 2-position switch. It will override the model's Channel 5 Mixes Configuration.
+
+!!! info "Channel 14 Behavior"
+    To help receivers determine the Armed state, Channel 14 gets the channel values for the switch configured for arming in Hybrid, Wide and 8ch/12ch Full Res switch modes.
+
+**Arm using Switch** can be enabled in the EdgeTX Internal/External RF Model Setup menu by changing “Arm using” to “Switch”.
+
+<figure markdown>
+![Arming](../../assets/images/v4Arming.png)
+</figure>
+
+#### How to set up Arming Mode Switch:
+
+1. Press the ++"MDL"++ Key.
+    - Older Radios or those with only one Menu Key will need to short-press the ++context-menu++ Key to access the Model Menu.
+    - Consult your Radio User's Manual on how to get to the Model Menu.
+2. Press the ++"PAGE"++ Key until you reach the Model Setup Page.
+    - On radios with Colored screens, this should be the first page when you activate the Model Menu.
+    - On radios with Monochrome screens, this should be the second page upon activating the Model Menu.
+3. Scroll down until you reach the Internal or External RF settings, depending on which module you want to use for this model.
+    - Color screen radios provide separate pages for these.
+    - On Monochrome screens, the options are all in one page. 
+4. Short-press the scroll-wheel button or press the ++enter++ Key and change the setting to "Switch". This option will not show up for External RF unless an External ExpressLRS Module is being detected by the handset.
+    <figure markdown>
+    ![Arming Color](../../assets/images/armingSwitch01.png)
+    </figure>
+
+    <figure markdown>
+    ![Arming Color](../../assets/images/armingSwitch02.png)
+    </figure>
+
+5. Press the ++enter++ Key to apply your selection.
+
+    <figure markdown>
+    ![Arming Color](../../assets/images/armingSwitch03.png)
+    </figure>
+
+6. Select the next option to set your arming switch.
+6. Press the ++enter++ Key and use the scroll-wheel to set your new arming switch. It can be any switch on the radio, a Logical Switch or any source. You can also flick the physical switch on the radio to set it.
+
+    <figure markdown>
+    ![Arming Color](../../assets/images/armingSwitch04.png)
+    </figure>
+
+7. Press the ++enter++ Key once more to set the switch.
+8. Press ++"RTN"++ Key once you're done with the rest of your changes.
+
 ### Switches and Aux Channels
 
-By default, a fresh model does not have any Aux Channels configured (Aux channels start from Ch5, with the first 4 Channels assigned to your joysticks). If moving any of the switches in your radio doesn't affect your Modes in Betaflight or INAV, this is one of the main reasons. So let's get this sorted out!
+By default, a fresh model does not have any Aux Channels configured (Aux channels start from Ch5, with the first 4 Channels assigned to your joysticks/gimbals). If moving any of the switches in your radio doesn't affect your Modes in Betaflight or INAV, this is one of the main reasons. So let's get this sorted out!
 
 1. Press the ++"MDL"++ Key.
     - Older Radios or those with only one Menu Key will need to short-press the ++context-menu++ Key to access the Model Menu.
@@ -346,4 +423,4 @@ By default, a fresh model does not have any Aux Channels configured (Aux channel
 
     <figure markdown>
     ![mixesAux Color](../../assets/images/txprep-clr-mixAux.jpg)
-    </figure>
+    </figure>

docs/software/switch-config.md

@@ -6,7 +6,7 @@ description: To optimize the performance of ExpressLRS, it has different Switch
 ![Software Banner](https://raw.githubusercontent.com/ExpressLRS/ExpressLRS-Hardware/master/img/software.png)
 
 !!! warning "WARNING" 
-    **Put your arm switch on AUX1**, and set it as **~1000 is disarmed, ~2000 is armed**.
+    IF you're using `Arm using CH5`, **put your arm switch on AUX1**, and set it as **~1000 is disarmed, ~2000 is armed**.
 
 ## Summary of Switch Configuration Modes
 
@@ -18,19 +18,21 @@ This table summarizes the switch configuration modes, available channel switch p
 | 2   | Sticks | **Normal<br>Range** | **Normal<br>Range** | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | **CRSF Ext<br>Limits** |
 | 3   | Sticks | **Normal<br>Range** | **Normal<br>Range** | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | **CRSF Ext<br>Limits** |
 | 4   | Sticks | **Normal<br>Range** | **Normal<br>Range** | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | **CRSF Ext<br>Limits** |
-| 5 | Aux 1 | **2-pos<br>Arm** | **2-pos<br>Arm** | **2-pos<br>Arm** | CRSF Ext<br>Limits<sup>H</sup><br/>Arm | **2-pos<br>Arm** |
+| 5 | Aux 1 | **2-pos<br>Arm** | **2-pos<br>Arm** | **CRSF Ext<br>Limits<sup>H</sup><br/>Arm*** | CRSF Ext<br>Limits<sup>H</sup><br/>**Arm*** | CRSF Ext<br>Limits<sup>H</sup><br/>**Arm*** |
 | 6   | Aux 2 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
 | 7   | Aux 3 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
 | 8   | Aux 4 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
-| 9   | Aux 5 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | **CRSF Ext<br>Limits** | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
+| 9   | Aux 5 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | - | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
 | 10  | Aux 6 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | - | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
 | 11  | Aux 7 | *6-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | - | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
 | 12  | Aux 8 | *16-pos*<sup>RR</sup> | *64/128<br>-pos*<sup>RR</sup> | - | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
-| 13  | Aux 9 | - | - | - | CRSF Ext<br>Limits<sup>H</sup> | CRSF Ext<br>Limits<sup>H</sup> |
-| 14  | Aux 10 | - | - | - | CRSF Ext<br>Limits<sup>H</sup> | - |
+| 13  | Aux 9 | - | - | - | CRSF Ext<br>Limits<sup>H</sup> | - |
+| 14  | Aux 10 | **2-pos<br>Arm*** | **2-pos<br>Arm*** | **2-pos<br>Arm*** | CRSF Ext<br>Limits<sup>H</sup> | **2-pos<br>Arm*** |
 | 15  | Aux 11 | - | - | - | CRSF Ext<br>Limits<sup>H</sup> | - |
 | 16  | Aux 12 | - | - | - | CRSF Ext<br>Limits<sup>H</sup> | - |
-|  | Packet<br>Rates | 50 thru<br>F1000 | 50 thru<br>F1000 | 100&333<br>Only | 100&333<br>Only | 100&333<br>Only |
+|  | Packet <br>Rates | 50 thru <br>F1000 | 50 thru <br>F1000 | Full Res <br>Only | Full Res <br>Only | Full Res <br>Only |
+
+<small>* v4.0 changes, with the introduction of the new arming methods</small>
 
 ### Switch Position / Channel Resolution
 
@@ -45,10 +47,12 @@ This table summarizes the switch configuration modes, available channel switch p
 
 
 !!! warning "WARNING" 
-    **Put your arm switch on AUX1**, and set it as **~1000 is disarmed, ~2000 is armed**.
+    IF you're using `Arm using CH5`, **put your arm switch on AUX1**, and set it as **~1000 is disarmed, ~2000 is armed**.
 
-!!! note
-    If using a receiver with PWM outputs and you would like to use the PWM output 5 on the receiver for a servo, gear, etc. Go into the WiFi interface of the receiver and map any of the other channels to PWM Output 5. Please always still use AUX1 for the 2-pos Arm switch.
+!!! note "ExpressLRS 3.x PWM output 5"
+    If using a receiver with PWM outputs and you would like to use the PWM output 5 on the receiver for a servo, gear, etc. Go into the WiFi interface of the receiver and map any of the other channels to PWM Output 5. Mixer Channel 5 is still going to be used for arming the TX module, and will be a 2-position channel.
+
+    No longer needed starting with ExpressLRS 4.x. Select one of the Full Res modes and Channel 5 will be a full proportional channel, like the others.
 
 ### Channel Update Rate versus Packet Rate
 
@@ -108,11 +112,19 @@ If using ArduPilot in **Wide** mode you will see that the channel outputs don't
 
 These switch modes come in three flavors based on the number of output channels you would like and are only available on packet rates of 100Hz Full and 333Hz Full.
 
-1. **8ch** - Channels 1 to 4 and Channels 6 to 9 are sent 10-bit, at the selected Packet Rate, along with Channel 5 (AUX1) in 1-bit (2-position) for Arming.
+=== "Version 4.0 Changes"
+    1. **8ch** - Channels 1 to 8 are sent 10-bit, at the selected Packet Rate.
+
+    2. **16ch Rate/2** - All the Channels are sent 10-bit but at half rate.
+
+    3. **12ch Mixed** - Channels 1 to 4 are sent 10-bit at the selected Packet Rate. Channels 5 to 12 are then sent at 10-bit but at half rate.
 
-2. **16ch Rate/2** - All the Channels are sent 10-bit but at half rate.
+=== "Version 3.x"
+    1. **8ch** - Channels 1 to 4 and Channels 6 to 9 are sent 10-bit, at the selected Packet Rate, along with Channel 5 (AUX1) in 1-bit (2-position) for Arming.
 
-3. **12ch Mixed** - Channels 1 to 4 are sent 10-bit with Channel 5 (AUX1) in 1-bit (2-position) for Arming at the selected Packet Rate. Channels 6 to 13 are then sent at 10-bit but at half rate.
+    2. **16ch Rate/2** - All the Channels are sent 10-bit but at half rate.
+
+    3. **12ch Mixed** - Channels 1 to 4 are sent 10-bit with Channel 5 (AUX1) in 1-bit (2-position) for Arming at the selected Packet Rate. Channels 6 to 13 are then sent at 10-bit but at half rate.
 
 All of these 10-bit or 1024 positions are mapped to PWM 885us to 2115us (1 bit = 1.23046875us) in what is called **"CRSF Extended Limits"**
 
@@ -122,48 +134,59 @@ All of these 10-bit or 1024 positions are mapped to PWM 885us to 2115us (1 bit =
 
 ## FAQ
 
-### <span class="custom-heading" data-id="1">Why do you keep saying "*put arm on AUX1*"?</span>
+### <span class="custom-heading" data-id="1">What's so important with Arming?</span>
 
-??? Note "Why do you keep saying "*put arm on AUX1*"?"
-    For safety and performance reasons.
+??? Note "What's so important with Arming?"
 
     **SAFETY**
 
-    AUX1 is sent with every packet going out, this is the most reliable way to be able to tell your model to disarm. If your arm switch is on another aux channel, it may be several packets before that switch is transmitted, and there's no guarantee that the RX will actually receive that packet. There's a non-trivial chance your model **may not ever disarm** if the link quality is low and it just so happens that the packet containing the arm switch is getting missed every time. Forcing the arm switch into every packet on AUX1 means that if **any** packet is received by ExpressLRS, it will disarm your model, not just a less than 1-in-7 chance.
+    Your transmitter and receiver act differently when “armed” and when “disarmed”. When disarmed, the transmitter and receiver are free to adjust their communication in order to make the LUA and other configuration operations more responsive. When "disarmed", everything will appear to be working appropriately but none of the safeguards will be in place and performance will not be what you expect. 
 
-    It also protects against unintentional disarms caused by a corrupt packet changing the value of the arm switch to disarmed. Betaflight requires that 4x "disarm" commands are received before disarming to guard against this possibility. With arm on AUX1, a single corrupt packet can not disarm your model. With arm on AUX2-8, the one corrupt switch value will be sent 6 times before the value is refreshed, but the flight controller would have already disarmed by that point.
+    !!! warning inline end "No Safeguards"
+        Without these safeguards, these actions can interrupt OTA transmission causing disconnections and ultimately failsafe.
 
-    Your transmitter and receiver also act differently when “armed” and when “disarmed”. When disarmed, the transmitter and receiver are free to adjust their communication in order to make the LUA and other configuration operations more responsive. When "disarmed", everything will appear to be working appropriately but none of the safeguards will be in place and performance will not be what you expect. 
+    When `Armed`, these safeguards are applied:
 
-    When `IsArmed` is enabled, these safeguards are applied:
-
-    - All "Button" inputs are disabled
-    - All "Joystick" (5-way buttons) are disabled
+    - All "Button" inputs on external TX modules are disabled
+    - All "Joystick" (5-way buttons) on external TX modules are disabled
     - Bump to Share is disabled
     - VTX Admin is disabled
     - Integrated VTX channel change is disabled
 
     **PERFORMANCE**
 
-    When `IsArmed` is enabled, these performance features are activated:
+    When `Armed`, these performance features are activated:
 
     - Dynamic Power is fully enabled
+        - Missing a Telemetry Packet will push the Transmission Power to Max
+        - Sudden disconnection or Failsafe will push the Transmission Power to Max
     - Race telemetry mode turns telemetry off
+        - All packets are then dedicated to control packets.
     - Some thermal-based fan controls are enabled
+        - Available on select TX modules
+
+### <span class="custom-heading" data-id="2">Why do you keep saying "*put arm on AUX1*"?</span>
+
+??? Note "Why do you keep saying "*put arm on AUX1*"?"
+    For safety and performance reasons.
+
+    AUX1 is sent with every packet going out, this is the most reliable way to be able to tell your model to disarm. If your arm switch is on another aux channel, it may be several packets before that switch is transmitted, and there's no guarantee that the RX will actually receive that packet. There's a non-trivial chance your model **may not ever disarm** if the link quality is low and it just so happens that the packet containing the arm switch is getting missed every time. Forcing the arm switch into every packet on AUX1 means that if **any** packet is received by ExpressLRS, it will disarm your model, not just a less than 1-in-7 chance.
+
+    It also protects against unintentional disarms caused by a corrupt packet changing the value of the arm switch to disarmed. Betaflight requires that 4x "disarm" commands are received before disarming to guard against this possibility. With arm on AUX1, a single corrupt packet can not disarm your model. With arm on AUX2-8, the one corrupt switch value will be sent 6 times before the value is refreshed, but the flight controller would have already disarmed by that point.
 
-    Arming is an extremely important part of the performance of the control link. Please use Aux 1 / Chan 5 as indicated. Also keep in mind that for ExpressLRS, ~1000us is the **disarmed** state and ~2000us is the **armed** state.
+    Please use Aux 1 / Chan 5 with ~1000us as the **disarmed** state and ~2000us as the **armed** state.
 
-### <span class="custom-heading" data-id="2">I use a 3-pos switch for arm, this software is unusable?</span>
+### <span class="custom-heading" data-id="3">I use a 3-pos switch for arm, this software is unusable?</span>
 
 ??? Note "I use a 3-pos switch for arm, this software is unusable?"
     Good news, you can still use a 3-position switch to arm! However, you will need to adjust the model input / mixer settings for AUX1 in EdgeTX / OpenTX to remap the switch to be 2-position / on-off switch. If your 3-position arm switch had a second function as well, such as enabling Blackbox, just use one of the other channels to send the same switch on a second channel using the model input / mixer settings EdgeTX / OpenTX.
 
-### <span class="custom-heading" data-id="3">What about "Normal" one bit switch mode?</span>
+### <span class="custom-heading" data-id="4">What about "Normal" one bit switch mode?</span>
 
 ??? Note "What about "Normal" one bit switch mode?"
     In version 1.0 of ExpressLRS, there was also a switch mode called "Normal" where there were eight 1-position switches sent in every packet. This mode was removed in version 2.0 due to its unpopularity and the flash space was used for other features. Please use Hybrid or Wide modes and all of the high performance packet rates.
 
-### <span class="custom-heading" data-id="4">Every time I change switch mode in Lua, it changes back! Is my transmitter broken?</span>
+### <span class="custom-heading" data-id="5">Every time I change switch mode in Lua, it changes back! Is my transmitter broken?</span>
 
 ??? Note "Every time I change switch mode in Lua, it changes back! Is my transmitter broken?"
     If the Lua loads then you know its communicating with your transmitter. However, the switch mode can only be changed when a receiver is not connected and makes it appear as if the changes are not saving. This is done to ensure consistency between the RX and TX interpretation of the switch data being actively transmitted. This is a safeguard. Power down your receiver, wait for the "Telemetry Lost" callout, and the switch mode change will stick / save. The receiver will talk to the transmitted when it is powered up to handshake on the new settings.