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docs(commander): add docs around COM_ARM_ON_BOOT functionality

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mahima-yoga
2026-03-20 16:06:20 +01:00
committed by Mahima Yoga
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docs/en/advanced_config/prearm_arm_disarm.md
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@@ -91,6 +91,28 @@ The feature is configured using the following timeouts.
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Time-out for auto disarm after landing. Default: 2s (-1 to disable). | | <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Time-out for auto disarm after landing. Default: 2s (-1 to disable). |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (<=0 to disable). | | <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (<=0 to disable). |
## Auto-Arming on Boot
The vehicle can be configured to arm automatically on boot once all preflight checks pass,
using the `COM_ARM_ON_BOOT` parameter. For safety, PX4 enforces a minimum 5-second delay after boot before attempting to arm.
Once armed this way, the vehicle will not re-arm automatically after a manual disarm.
::: info
The parameter value is read once at boot.
Changing it while the system is running has no effect until the next reboot.
:::
:::warning
Use with caution.
A vehicle that arms automatically can spin up motors and actuators without any operator gesture.
Ensure the vehicle is in a safe state before powering on.
:::
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------- |
| <a id="COM_ARM_ON_BOOT"></a>[COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). |
## Pre-Arm Checks ## Pre-Arm Checks
To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable). To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable).