Commander: force disabling the arm stick gesture when arm switch is in use

src/modules/commander/Commander.cpp

@@ -1797,6 +1797,7 @@ Commander::run()
 
 	const param_t param_airmode = param_find("MC_AIRMODE");
 	const param_t param_man_arm_gesture = param_find("MAN_ARM_GESTURE");
+	const param_t param_rc_map_arm_sw = param_find("RC_MAP_ARM_SW");
 
 	/* initialize */
 	led_init();
@@ -1915,7 +1916,25 @@ Commander::run()
 
 			_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
 
-			/* check for unsafe Airmode settings: yaw airmode requires the use of an arming switch */
+			// disable arm gesture if an arm switch is configured
+			if (param_man_arm_gesture != PARAM_INVALID && param_rc_map_arm_sw != PARAM_INVALID) {
+				int32_t man_arm_gesture = 0, rc_map_arm_sw = 0;
+				param_get(param_man_arm_gesture, &man_arm_gesture);
+				param_get(param_rc_map_arm_sw, &rc_map_arm_sw);
+
+				if (rc_map_arm_sw > 0 && man_arm_gesture == 1) {
+					man_arm_gesture = 0; // disable arm gesture
+					param_set(param_man_arm_gesture, &man_arm_gesture);
+					mavlink_log_critical(&_mavlink_log_pub, "Arm stick gesture disabled if arm switch in use\t")
+					/* EVENT
+					* @description <param>MAN_ARM_GESTURE</param> is now set to disable arm/disarm stick gesture.
+					*/
+					events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled},
+						     "Arm stick gesture disabled if arm switch in use");
+				}
+			}
+
+			// check for unsafe Airmode settings: yaw airmode requires disabling the stick arm gesture
 			if (param_airmode != PARAM_INVALID && param_man_arm_gesture != PARAM_INVALID) {
 				int32_t airmode = 0, man_arm_gesture = 0;
 				param_get(param_airmode, &airmode);