From 92b8ed3c9eba7f5624fd9e600e085a5e616a2a41 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 5 Aug 2024 11:54:15 +0100
Subject: [PATCH] Plane: Qautotune: use new disrmed call and add new aux
 function

---
 ArduPlane/AP_Arming.cpp  | 8 ++------
 ArduPlane/RC_Channel.cpp | 9 +++++++++
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index a774b778f5f590..643f93a6c17cc9 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -370,12 +370,8 @@ bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_chec
     change_arm_state();
 
 #if QAUTOTUNE_ENABLED
-    //save qautotune gains if enabled and success
-    if (plane.control_mode == &plane.mode_qautotune) {
-        plane.quadplane.qautotune.save_tuning_gains();
-    } else {
-        plane.quadplane.qautotune.reset();
-    }
+    // Possibly save auto tuned parameters
+    plane.quadplane.qautotune.disarmed(plane.control_mode == &plane.mode_qautotune);
 #endif
 
     // re-initialize speed variable used in AUTO and GUIDED for
diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
index cd1d63e04a09f8..a8925258fb7dce 100644
--- a/ArduPlane/RC_Channel.cpp
+++ b/ArduPlane/RC_Channel.cpp
@@ -169,6 +169,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
     case AUX_FUNC::PRECISION_LOITER:
+#if QAUTOTUNE_ENABLED
+    case AUX_FUNC::AUTOTUNE_SWITCH:
+#endif
         break;
 
     case AUX_FUNC::SOARING:
@@ -439,6 +442,12 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         // handled by lua scripting, just ignore here
         break;
 
+#if QAUTOTUNE_ENABLED
+    case AUX_FUNC::AUTOTUNE_SWITCH:
+        plane.quadplane.qautotune.do_aux_function(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }