From 897775f38d6fc141eb2cdc8fa927deccf2897f82 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 9 Dec 2021 11:36:14 +0100
Subject: [PATCH] ManualControlSelector: Allow disabling stick input

---
 src/modules/commander/commander_params.c      |  3 +-
 .../ManualControlSelectorTest.cpp             | 28 +++++++++++++++++++
 2 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 006603dcc1..6016fc6275 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -252,11 +252,12 @@ PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
  *
  * @group Commander
  * @min 0
- * @max 3
+ * @max 4
  * @value 0 RC Transmitter only
  * @value 1 Joystick only
  * @value 2 RC and Joystick with fallback
  * @value 3 RC or Joystick keep first
+ * @value 4 Stick input disabled
  */
 PARAM_DEFINE_INT32(COM_RC_IN_MODE, 3);
 
diff --git a/src/modules/manual_control/ManualControlSelectorTest.cpp b/src/modules/manual_control/ManualControlSelectorTest.cpp
index beba41dbca..a6bd91cb65 100644
--- a/src/modules/manual_control/ManualControlSelectorTest.cpp
+++ b/src/modules/manual_control/ManualControlSelectorTest.cpp
@@ -219,6 +219,34 @@ TEST(ManualControlSelector, FirstInput)
 	EXPECT_EQ(selector.instance(), 0);
 }
 
+TEST(ManualControlSelector, DisabledInput)
+{
+	ManualControlSelector selector;
+	selector.setRcInMode(4);
+	selector.setTimeout(500_ms);
+
+	uint64_t timestamp = some_time;
+
+	manual_control_setpoint_s input {};
+	// Reject MAVLink stick input
+	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
+	input.timestamp_sample = timestamp;
+	selector.updateWithNewInputSample(timestamp, input, 0);
+
+	EXPECT_FALSE(selector.setpoint().valid);
+	EXPECT_EQ(selector.instance(), -1);
+
+	timestamp += 100_ms;
+
+	// Reject RC stick input
+	input.data_source = manual_control_setpoint_s::SOURCE_RC;
+	input.timestamp_sample = timestamp;
+	selector.updateWithNewInputSample(timestamp, input, 1);
+
+	EXPECT_FALSE(selector.setpoint().valid);
+	EXPECT_EQ(selector.instance(), -1);
+}
+
 TEST(ManualControlSelector, RcTimeout)
 {
 	ManualControlSelector selector;