Fixed in-air restart

src/modules/commander/commander.cpp

@@ -470,8 +470,26 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		}
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM:
-		// XXX implement later
-		result = VEHICLE_CMD_RESULT_DENIED;
+	{
+		transition_result_t arming_res = TRANSITION_NOT_CHANGED;
+		if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
+			if (safety->safety_switch_available && !safety->safety_off) {
+				print_reject_arm("NOT ARMING: Press safety switch first.");
+				arming_res = TRANSITION_DENIED;
+
+			} else {
+				arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
+			}
+
+			if (arming_res == TRANSITION_CHANGED) {
+				mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd");
+				result = VEHICLE_CMD_RESULT_ACCEPTED;
+			} else {
+				mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd");
+				result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+			}
+		}
+	}
 		break;
 
 	default: