diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
index 53b68cdeb4..53bb8f5a01 100644
--- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
+++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
@@ -325,7 +325,6 @@
1 1 COM_PREARM_MODE 0 6
1 1 COM_QC_ACT 0 6
1 1 COM_RCL_EXCEPT 0 6
-1 1 COM_RC_ARM_HYST 1000 6
1 1 COM_RC_IN_MODE 3 6
1 1 COM_RC_LOSS_T 0.500000000000000000 9
1 1 COM_RC_OVERRIDE 1 6
diff --git a/docs/en/advanced_config/prearm_arm_disarm.md b/docs/en/advanced_config/prearm_arm_disarm.md
index e9e01f180f..ec4ce4c7e2 100644
--- a/docs/en/advanced_config/prearm_arm_disarm.md
+++ b/docs/en/advanced_config/prearm_arm_disarm.md
@@ -52,19 +52,17 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
- _Arm:_ Left-stick to right, right-stick to bottom.
- _Disarm:_ Left-stick to left, right-stick to the bottom.
-The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST).
Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
| [MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
| [COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
-| [COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: `1` second). |
## Arming Button/Switch {#arm_disarm_switch}
An _arming button_ or "momentary switch" can be configured to trigger arm/disarm _instead_ of [gesture-based arming](#arm_disarm_gestures) (setting an arming switch disables arming gestures).
-The button should be held down for ([nominally](#COM_RC_ARM_HYST)) one second to arm (when disarmed) or disarm (when armed).
+The button should be held down for one second to arm (when disarmed) or disarm (when armed).
A two-position switch can also be used for arming/disarming, where the respective arm/disarm commands are sent on switch _transitions_.
@@ -77,7 +75,7 @@ The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm switch channel (default: 0 - unassigned). If defined, the specified RC channel (button/switch) is used for arming instead of a stick gesture.
**Note:**
- This setting _disables the stick gesture_!
- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. |
-| [COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | Arm switch is a momentary button.
- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.
-`1`: Arm switch is a button or momentary button where the arm/disarm command ae sent after holding down button for set time ([COM_RC_ARM_HYST](#COM_RC_ARM_HYST)). |
+| [COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | Arm switch is a momentary button.
- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.
-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second. |
::: info
The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/flight_mode.md) configuration.
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index e906a3e1f9..0f3a97de4b 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -198,18 +198,6 @@ PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
*/
PARAM_DEFINE_INT32(COM_RC_IN_MODE, 3);
-/**
- * Manual control input arm/disarm command duration
- *
- * The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
- *
- * @group Commander
- * @min 100
- * @max 1500
- * @unit ms
- */
-PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
-
/**
* Time-out for auto disarm after landing
*
@@ -260,8 +248,7 @@ PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
* Arm switch is a momentary button
*
* 0: Arming/disarming triggers on switch transition.
- * 1: Arming/disarming triggers when holding the momentary button down
- * for COM_RC_ARM_HYST like the stick gesture.
+ * 1: Arming/disarming triggers when holding the momentary button down like the stick gesture.
*
* @group Commander
* @boolean
diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index 517639100c..263cbaa027 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -309,9 +309,9 @@ void ManualControl::updateParams()
{
ModuleParams::updateParams();
- _stick_arm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms);
- _stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms);
- _button_arm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms);
+ _stick_arm_hysteresis.set_hysteresis_time_from(false, 1_s);
+ _stick_disarm_hysteresis.set_hysteresis_time_from(false, 1_s);
+ _button_arm_hysteresis.set_hysteresis_time_from(false, 1_s);
_stick_kill_hysteresis.set_hysteresis_time_from(false, _param_man_kill_gest_t.get() * 1_s);
_selector.setRcInMode(_param_com_rc_in_mode.get());
diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index 660a125665..42856bb650 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -148,7 +148,6 @@ private:
(ParamFloat) _param_com_rc_stick_ov,
(ParamBool) _param_man_arm_gesture,
(ParamFloat) _param_man_kill_gest_t,
- (ParamInt) _param_com_rc_arm_hyst,
(ParamBool) _param_com_arm_swisbtn,
(ParamInt) _param_fltmode_1,
(ParamInt) _param_fltmode_2,