From 182980526f11541762749ee297ef943d9c99d327 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Tue, 8 Mar 2022 17:12:52 +0100
Subject: [PATCH] commander: allow rearming grace period for arming switch only

---
 src/modules/commander/Commander.cpp      |  3 ++-
 src/modules/commander/Commander.hpp      |  1 -
 src/modules/commander/commander_params.c | 10 ----------
 3 files changed, 2 insertions(+), 12 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 6d119ad547..fb047b68d3 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -677,7 +677,8 @@ static constexpr const char *main_state_str(uint8_t main_state)
 transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks)
 {
 	// allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidential in-air disarming
-	if (_param_com_rearm_grace.get() && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s)) {
+	if (calling_reason == arm_disarm_reason_t::rc_switch
+	    && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s)) {
 		run_preflight_checks = false;
 	}
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 74d44a718d..aa04a240fb 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -247,7 +247,6 @@ private:
 		(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required,
 		(ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required,
 		(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required,
-		(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
 
 		(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 21a548f080..34a632d625 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -678,16 +678,6 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 45);
  */
 PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2);
 
-/**
- * Rearming grace period
- *
- * Re-arming grace allows to rearm the drone with manual command without running prearmcheck during 5 s after disarming.
- *
- * @group Commander
- * @boolean
- */
-PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
-
 /**
  * Enable RC stick override of auto and/or offboard modes
  *