Why disarming is so low?

ArduCopter Copter 3.2
1

I WISH the arm/disamr routine was FASTER LIKE NAZA… i dont understand why the aom take s5-6 seconds more than NAZA. NAZA is immediate and safer.

2

@manatta,
It’s only slow the first time because it does an additional gyro and baro calibration. It’s super quick after that.

I guess there are two parts to it though, there’s the delay in how long the pilot must keep the throttle low and yaw to the far right and then there’s the amount of time it takes to calibration the baro and gyros on the first arming.

3

We could make it faster by starting the process as soon as the user has the stick in the corner, and not allowing it to finish until the debouncing condition has been met.