Can anyone tell me what the auto-disarm logic is? I can't find any mention on the wiki now, but I seem to remember reading that if it is in stabilize mode with zero throttle it will auto-disarm after 5 or 10 seconds, which seems to be what's happening.
Is there also logic in there to prevent this happening in the air? A few times I've been quite high up and wanting to descend quickly, but have been nervous about how slow I let the props go in case it auto-disarms on me in flight - is there any chance of that or is it looking at height or descent rate to prevent it?
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However, I have since discovered that its bad practice to ever let the motors stop in flight because they might not be able to spin up again if they start windmilling backward in freefall. There have been a few crashes reported for which this is the suspected cause.