From 5205d95a8c20a9500e10d8a32dc7a261ca90d0b6 Mon Sep 17 00:00:00 2001
From: Vladimir Zidar <vladimir@volomp.com>
Date: Wed, 11 May 2016 12:01:31 +0200
Subject: [PATCH] LP-309 skip edge detection if not transitioning from fully
 ARMED/DISARMED state

---
 flight/modules/ManualControl/armhandler.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/flight/modules/ManualControl/armhandler.c b/flight/modules/ManualControl/armhandler.c
index 6be9a43ed..eb0cb797b 100644
--- a/flight/modules/ManualControl/armhandler.c
+++ b/flight/modules/ManualControl/armhandler.c
@@ -203,6 +203,11 @@ void armHandler(bool newinit, FrameType_t frameType)
         previousArmingInputLevel = 0.0f;
     }
 
+    // ignore previous arming input level if not transitioning from fully ARMED/DISARMED states.
+    if((armState != ARM_STATE_DISARMED) && (armState != ARM_STATE_ARMED)) {
+        previousArmingInputLevel = 0.0f;
+    }
+
     if ((armingInputLevel <= -ARMED_THRESHOLD) && (previousArmingInputLevel > -ARMED_THRESHOLD)) {
         manualArm = true;
     } else if ((armingInputLevel >= +ARMED_THRESHOLD) && (previousArmingInputLevel < +ARMED_THRESHOLD)) {