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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_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
To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable).