MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME

src/modules/commander/Commander.cpp

@@ -2721,8 +2721,8 @@ Commander::run()
 
 			if (_arm_state_machine.isArmed()) {
 				if (fd_status_flags.arm_escs) {
-					// 500ms is the PWM spoolup time. Within this timeframe controllers are not affecting actuator_outputs
-					if (hrt_elapsed_time(&_vehicle_status.armed_time) < 500_ms) {
+					// Checks have to pass within the spool up time
+					if (hrt_elapsed_time(&_vehicle_status.armed_time) < _param_com_spoolup_time.get() * 1_s) {
 						disarm(arm_disarm_reason_t::failure_detector);
 						mavlink_log_critical(&_mavlink_log_pub, "ESCs did not respond to arm request\t");
 						events::send(events::ID("commander_fd_escs_not_arming"), events::Log::Critical, "ESCs did not respond to arm request");

src/modules/commander/Commander.hpp

@@ -258,7 +258,9 @@ private:
 		(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
 
 		(ParamInt<px4::params::COM_FLT_TIME_MAX>) _param_com_flt_time_max,
-		(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max
+		(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max,
+
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
 	)
 
 	// optional parameters

src/modules/commander/commander_params.c

@@ -1023,6 +1023,22 @@ PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1);
  */
 PARAM_DEFINE_INT32(COM_ARM_SDCARD, 1);
 
+/**
+ * Enforced delay between arming and further navigation
+ *
+ * The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds.
+ * Goal:
+ * - Motors and propellers spool up to idle speed before getting commanded to spin faster
+ * - Timeout for ESCs and smart batteries to successfulyy do failure checks
+ *   e.g. for stuck rotors before the vehicle is off the ground
+ *
+ * @group Commander
+ * @min 0
+ * @max 5
+ * @unit s
+ */
+PARAM_DEFINE_FLOAT(COM_SPOOLUP_TIME, 1.0f);
+
 /**
  * Wind speed warning threshold
  *

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -269,7 +269,7 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, c
 		bool is_esc_failure = !is_all_escs_armed;
 
 		for (int i = 0; i < limited_esc_count; i++) {
-			is_esc_failure = is_esc_failure | (esc_status.esc[i].failures > 0);
+			is_esc_failure = is_esc_failure || (esc_status.esc[i].failures > 0);
 		}
 
 		_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);