From 633d8d496964d445567671e05ea8b6c96c03a7a0 Mon Sep 17 00:00:00 2001
From: Vladimir Zidar <mr_w@mindnever.org>
Date: Tue, 10 May 2016 23:00:12 +0200
Subject: [PATCH] LP-309 Arming should be done at armingInputLevel edge
 (crossing ARMED_THRESHOLD) instead of level to avoid unwanted re-arming after
 timeout.

---
 flight/modules/ManualControl/armhandler.c | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/flight/modules/ManualControl/armhandler.c b/flight/modules/ManualControl/armhandler.c
index 6157339a5..6be9a43ed 100644
--- a/flight/modules/ManualControl/armhandler.c
+++ b/flight/modules/ManualControl/armhandler.c
@@ -195,12 +195,22 @@ void armHandler(bool newinit, FrameType_t frameType)
     bool manualArm    = false;
     bool manualDisarm = false;
 
-    if (armingInputLevel <= -ARMED_THRESHOLD) {
+    static FlightModeSettingsArmingOptions previousArmingSettings = -1;
+    static float previousArmingInputLevel = 0.0f;
+
+    if (previousArmingSettings != settings.Arming) {
+        previousArmingSettings   = settings.Arming;
+        previousArmingInputLevel = 0.0f;
+    }
+
+    if ((armingInputLevel <= -ARMED_THRESHOLD) && (previousArmingInputLevel > -ARMED_THRESHOLD)) {
         manualArm = true;
-    } else if (armingInputLevel >= +ARMED_THRESHOLD) {
+    } else if ((armingInputLevel >= +ARMED_THRESHOLD) && (previousArmingInputLevel < +ARMED_THRESHOLD)) {
         manualDisarm = true;
     }
 
+    previousArmingInputLevel = armingInputLevel;
+
     switch (armState) {
     case ARM_STATE_DISARMED:
         setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);