diff --git a/sw/airborne/autopilot.h b/sw/airborne/autopilot.h
index 3a051e3ea7..ae727ac93a 100644
--- a/sw/airborne/autopilot.h
+++ b/sw/airborne/autopilot.h
@@ -59,6 +59,7 @@ struct pprz_autopilot {
   uint8_t mode;             ///< current autopilot mode
   uint8_t mode_auto2;       ///< FIXME hide this in a private part ?
   uint16_t flight_time;     ///< flight time in seconds
+  uint8_t arming_status;   ///  arming status
   bool motors_on;           ///< motor status
   bool kill_throttle;       ///< allow autopilot to use throttle
   bool in_flight;           ///< in flight status
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
index 267710ec0f..2d3444c97e 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
@@ -30,6 +30,7 @@
 #define AUTOPILOT_ARMING_THROTTLE_H
 
 #include "autopilot_rc_helpers.h"
+#include "autopilot_firmware.h"
 
 #define AUTOPILOT_ARMING_DELAY 10
 
@@ -64,6 +65,31 @@ static inline void autopilot_arming_set(bool motors_on)
   }
 }
 
+/** Checks all arm requirements and returns true if OK and false otherwise.
+ *  Also sets the arming status to provide information to the user
+ *
+ *  @return true if arming checks are all valid
+ */
+static inline bool autopilot_arming_check_valid(void)
+{
+  if (!PITCH_STICK_CENTERED()) {
+    autopilot.arming_status = AP_ARMING_STATUS_PITCH_NOT_CENTERED;
+  } else if (!ROLL_STICK_CENTERED()) {
+    autopilot.arming_status = AP_ARMING_STATUS_ROLL_NOT_CENTERED;
+  } else if (!YAW_STICK_CENTERED()) {
+    autopilot.arming_status = AP_ARMING_STATUS_YAW_NOT_CENTERED;
+  } else if (autopilot_get_mode() != MODE_MANUAL) {
+    autopilot.arming_status = AP_ARMING_STATUS_NOT_MODE_MANUAL;
+  } else if (autopilot_unarmed_in_auto) {
+    autopilot.arming_status = AP_ARMING_STATUS_UNARMED_IN_AUTO;
+  } else if (THROTTLE_STICK_DOWN()) {
+    autopilot.arming_status = AP_ARMING_STATUS_THROTTLE_DOWN;
+  } else {
+    return true; // all checks valid
+  }
+  return false; // one of the checks failed
+}
+
 /**
  * State machine to check if motors should be turned ON or OFF.
  * - automatically unkill when applying throttle
@@ -87,35 +113,37 @@ static inline void autopilot_arming_check_motors_on(void)
           autopilot_arming_state = STATE_WAITING;
         }
         break;
-      case STATE_WAITING:
+      case STATE_WAITING: // after startup wait until throttle is down before attempting to arm
         autopilot.motors_on = false;
         autopilot_arming_delay_counter = 0;
         if (THROTTLE_STICK_DOWN()) {
           autopilot_arming_state = STATE_MOTORS_OFF_READY;
+        } else {
+          autopilot.arming_status = AP_ARMING_STATUS_THROTTLE_NOT_DOWN;
         }
         break;
       case STATE_MOTORS_OFF_READY:
         autopilot.motors_on = false;
         autopilot_arming_delay_counter = 0;
-        if (!THROTTLE_STICK_DOWN() &&
-            rc_attitude_sticks_centered() &&
-            (autopilot_get_mode() == MODE_MANUAL || autopilot_unarmed_in_auto)) {
+        if (autopilot_arming_check_valid()) {
           autopilot_arming_state = STATE_ARMING;
         }
         break;
       case STATE_ARMING:
         autopilot.motors_on = false;
+        autopilot.arming_status = AP_ARMING_STATUS_ARMING;
         autopilot_arming_delay_counter++;
-        if (THROTTLE_STICK_DOWN() ||
-            !rc_attitude_sticks_centered() ||
-            (autopilot_get_mode() != MODE_MANUAL && !autopilot_unarmed_in_auto)) {
+        if (!autopilot_arming_check_valid()) {
           autopilot_arming_state = STATE_MOTORS_OFF_READY;
         } else if (autopilot_arming_delay_counter >= AUTOPILOT_ARMING_DELAY) {
           autopilot_arming_state = STATE_MOTORS_ON;
+        } else {
+          autopilot.arming_status = AP_ARMING_STATUS_ARMING;
         }
         break;
       case STATE_MOTORS_ON:
         autopilot.motors_on = true;
+        autopilot.arming_status = AP_ARMING_STATUS_ARMED;
         autopilot_arming_delay_counter = AUTOPILOT_ARMING_DELAY;
         if (THROTTLE_STICK_DOWN()) {
           autopilot_arming_state = STATE_UNARMING;
@@ -123,6 +151,7 @@ static inline void autopilot_arming_check_motors_on(void)
         break;
       case STATE_UNARMING:
         autopilot.motors_on = true;
+        autopilot.arming_status = AP_ARMING_STATUS_DISARMING;
         autopilot_arming_delay_counter--;
         if (!THROTTLE_STICK_DOWN()) {
           autopilot_arming_state = STATE_MOTORS_ON;
@@ -138,6 +167,8 @@ static inline void autopilot_arming_check_motors_on(void)
       default:
         break;
     }
+  } else {
+    autopilot.arming_status = AP_ARMING_STATUS_KILLED;
   }
 
 }
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
index 0efb8e23a3..0217e3068a 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
@@ -30,6 +30,7 @@
 #define AUTOPILOT_ARMING_YAW_H
 
 #include "autopilot_rc_helpers.h"
+#include "autopilot_firmware.h"
 
 /** Delay until motors are armed/disarmed.
  * In number of rc frames recieved.
@@ -74,6 +75,34 @@ static inline void autopilot_arming_set(bool motors_on)
   }
 }
 
+#define YAW_MUST_BE_CENTERED true
+#define YAW_MUST_BE_PUSHED false
+/** Checks all arm requirements and returns true if OK and false otherwise.
+ *  Also sets the arming status to provide information to the user
+ *
+ *  @param[in] yaw_must_be_centered check is vallid of a yaw stick centered (true) or pushed (false)
+ *  @return true if arming checks are all valid
+ */
+static inline bool autopilot_arming_check_valid(bool yaw_must_be_centered)
+{
+  if (!THROTTLE_STICK_DOWN()) {
+    autopilot.arming_status = AP_ARMING_STATUS_THROTTLE_NOT_DOWN;
+  } else if (!PITCH_STICK_CENTERED()) {
+    autopilot.arming_status = AP_ARMING_STATUS_PITCH_NOT_CENTERED;
+  } else if (!ROLL_STICK_CENTERED()) {
+    autopilot.arming_status = AP_ARMING_STATUS_ROLL_NOT_CENTERED;
+  } else {
+    if (yaw_must_be_centered && !YAW_STICK_CENTERED()) {
+      autopilot.arming_status = AP_ARMING_STATUS_YAW_NOT_CENTERED;
+    } else if (!yaw_must_be_centered && YAW_STICK_CENTERED()) {
+      autopilot.arming_status = AP_ARMING_STATUS_YAW_CENTERED;
+    } else {
+      return true; // all checks valid
+    }
+  }
+  return false; // one of the checks failed
+}
+
 /**
  * State machine to check if motors should be turned ON or OFF.
  * The motors start/stop when pushing the yaw stick without throttle until #MOTOR_ARMING_DELAY is reached.
@@ -87,7 +116,7 @@ static inline void autopilot_arming_check_motors_on(void)
 
     switch (autopilot_check_motor_status) {
       case STATUS_INITIALISE_RC: // Wait until RC is initialised (it being centered is a good pointer to this)
-        if (THROTTLE_STICK_DOWN() && YAW_STICK_CENTERED() && PITCH_STICK_CENTERED() && ROLL_STICK_CENTERED()) {
+        if (autopilot_arming_check_valid(YAW_MUST_BE_CENTERED)) {
           autopilot_check_motor_status = STATUS_MOTORS_OFF;
         }
         break;
@@ -96,20 +125,22 @@ static inline void autopilot_arming_check_motors_on(void)
         //wait extra delay before enabling the normal arming state machine
         autopilot.motors_on = false;
         autopilot_motors_on_counter = 0;
-        if (THROTTLE_STICK_DOWN() && YAW_STICK_CENTERED()) { // stick released
+        if (autopilot_arming_check_valid(YAW_MUST_BE_CENTERED)) {
           autopilot_check_motor_status = STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT;
         }
         break;
       case STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT:
-          autopilot_motors_on_counter++;
-          if (autopilot_motors_on_counter >= MOTOR_ARMING_DELAY) {
-            autopilot_check_motor_status = STATUS_MOTORS_OFF;
-          }
+        autopilot_motors_on_counter++;
+        if (autopilot_motors_on_counter >= MOTOR_ARMING_DELAY) {
+          autopilot_check_motor_status = STATUS_MOTORS_OFF;
+        } else {
+          autopilot.arming_status = AP_ARMING_STATUS_WAITING;
+        }
         break;
       case STATUS_MOTORS_OFF:
         autopilot.motors_on = false;
         autopilot_motors_on_counter = 0;
-        if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) { // stick pushed
+        if (autopilot_arming_check_valid(YAW_MUST_BE_PUSHED)) { // stick pushed
           autopilot_check_motor_status = STATUS_M_OFF_STICK_PUSHED;
         }
         break;
@@ -118,18 +149,21 @@ static inline void autopilot_arming_check_motors_on(void)
         autopilot_motors_on_counter++;
         if (autopilot_motors_on_counter >= MOTOR_ARMING_DELAY) {
           autopilot_check_motor_status = STATUS_START_MOTORS;
-        } else if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) { // stick released too soon
+        } else if (autopilot_arming_check_valid(YAW_MUST_BE_PUSHED)) { // stick released too soon
           autopilot_check_motor_status = STATUS_MOTORS_OFF;
+        } else {
+          autopilot.arming_status = AP_ARMING_STATUS_WAITING;
         }
         break;
       case STATUS_START_MOTORS:
         autopilot.motors_on = true;
         autopilot_motors_on_counter = MOTOR_ARMING_DELAY;
-        if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) { // wait until stick released
+        if (autopilot_arming_check_valid(YAW_MUST_BE_CENTERED)) { // wait until stick released
           autopilot_check_motor_status = STATUS_MOTORS_ON;
         }
         break;
       case STATUS_MOTORS_ON:
+        autopilot.arming_status = AP_ARMING_STATUS_ARMED;
         autopilot.motors_on = true;
         autopilot_motors_on_counter = MOTOR_ARMING_DELAY;
         if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) { // stick pushed
@@ -143,18 +177,20 @@ static inline void autopilot_arming_check_motors_on(void)
           autopilot_check_motor_status = STATUS_STOP_MOTORS;
         } else if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) { // stick released too soon
           autopilot_check_motor_status = STATUS_MOTORS_ON;
+        } else {
+          autopilot.arming_status = AP_ARMING_STATUS_DISARMING;
         }
         break;
       case STATUS_STOP_MOTORS:
         autopilot.motors_on = false;
         autopilot_motors_on_counter = 0;
-        if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) { // wait until stick released
-          autopilot_check_motor_status = STATUS_MOTORS_OFF;
-        }
+        autopilot_check_motor_status = STATUS_MOTORS_OFF;
         break;
       default:
         break;
     }
+  } else {
+    autopilot.arming_status = AP_ARMING_STATUS_KILLED;
   }
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
index 5b1475b536..3713c6fe61 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -97,12 +97,13 @@ static void send_status(struct transport_tx *trans, struct link_device *dev)
 #endif
   uint8_t in_flight = autopilot.in_flight;
   uint8_t motors_on = autopilot.motors_on;
+  uint8_t arming_status = autopilot.arming_status;
   uint16_t time_sec = sys_time.nb_sec;
   pprz_msg_send_ROTORCRAFT_STATUS(trans, dev, AC_ID,
                                   &imu_nb_err, &_motor_nb_err,
                                   &radio_control.status, &radio_control.frame_rate,
                                   &fix, &autopilot.mode, &in_flight, &motors_on,
-                                  &guidance_h.mode, &guidance_v_mode,
+                                  &arming_status, &guidance_h.mode, &guidance_v_mode,
                                   &electrical.vsupply, &time_sec);
 }
 
@@ -149,10 +150,10 @@ static void send_fp_min(struct transport_tx *trans, struct link_device *dev)
   uint16_t gspeed = stateGetHorizontalSpeedNorm_f() / 100;
 #endif
   pprz_msg_send_ROTORCRAFT_FP_MIN(trans, dev, AC_ID,
-                              &(stateGetPositionEnu_i()->x),
-                              &(stateGetPositionEnu_i()->y),
-                              &(stateGetPositionEnu_i()->z),
-                              &gspeed);
+                                  &(stateGetPositionEnu_i()->x),
+                                  &(stateGetPositionEnu_i()->y),
+                                  &(stateGetPositionEnu_i()->z),
+                                  &gspeed);
 }
 
 #ifdef RADIO_CONTROL
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
index 821d308110..228be90f9f 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
@@ -122,6 +122,8 @@ void autopilot_generated_on_rc_frame(void)
   if (ap_ahrs_is_aligned()) {
     autopilot_arming_check_motors_on();
     autopilot.kill_throttle = ! autopilot.motors_on;
+  } else {
+    autopilot.arming_status = AP_ARMING_STATUS_AHRS_NOT_ALLIGNED;
   }
 
   /* if not in FAILSAFE or HOME mode, read RC and set commands accordingly */
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.c b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
index 0d5464295b..d780ccaa33 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_static.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
@@ -376,6 +376,8 @@ void autopilot_static_on_rc_frame(void)
   if (ap_ahrs_is_aligned()) {
     autopilot_arming_check_motors_on();
     autopilot.kill_throttle = ! autopilot.motors_on;
+  } else {
+    autopilot.arming_status = AP_ARMING_STATUS_AHRS_NOT_ALLIGNED;
   }
 
   /* if not in FAILSAFE or HOME mode, read RC and set commands accordingly */
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.h b/sw/airborne/firmwares/rotorcraft/autopilot_static.h
index a76bba2ea8..7191091c7e 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_static.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_static.h
@@ -53,6 +53,27 @@
 #define AP_MODE_FLIP              18
 #define AP_MODE_GUIDED            19
 
+
+/* Arming status*/
+#define AP_ARMING_STATUS_NO_RC 0
+#define AP_ARMING_STATUS_WAITING 1
+#define AP_ARMING_STATUS_ARMING 2
+#define AP_ARMING_STATUS_ARMED 3
+#define AP_ARMING_STATUS_DISARMING 4
+#define AP_ARMING_STATUS_KILLED 5
+#define AP_ARMING_STATUS_YAW_CENTERED 6
+#define AP_ARMING_STATUS_THROTTLE_DOWN 7
+#define AP_ARMING_STATUS_NOT_MODE_MANUAL 8
+#define AP_ARMING_STATUS_UNARMED_IN_AUTO 9
+#define AP_ARMING_STATUS_THROTTLE_NOT_DOWN 10
+#define AP_ARMING_STATUS_STICKS_NOT_CENTERED 11
+#define AP_ARMING_STATUS_PITCH_NOT_CENTERED 12
+#define AP_ARMING_STATUS_ROLL_NOT_CENTERED 13
+#define AP_ARMING_STATUS_YAW_NOT_CENTERED 14
+#define AP_ARMING_STATUS_AHRS_NOT_ALLIGNED 15
+#define AP_ARMING_STATUS_OUT_OF_GEOFENCE 16
+#define AP_ARMING_STATUS_LOW_BATTERY 17
+
 /** Default RC mode.
  */
 #ifndef MODE_MANUAL
diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink
index 25b7024ad4..7c7d0abe59 160000
--- a/sw/ext/pprzlink
+++ b/sw/ext/pprzlink
@@ -1 +1 @@
-Subproject commit 25b7024ad46964b4c99c998b75eca6db34ceab5b
+Subproject commit 7c7d0abe596a1fee86295612cc9b7f4594c7e09d