Avoid calling mwDisarm() when due to having auto_disarm_delay when using

switch to arm().

src/main/io/rc_controls.c

@@ -57,6 +57,11 @@ int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+
 
 uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
 
+bool isUsingSticksForArming(void)
+{
+    return isUsingSticksToArm;
+}
+
 bool areSticksInApModePosition(uint16_t ap_mode)
 {
     return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode;

src/main/io/rc_controls.h

@@ -213,3 +213,4 @@ void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmen
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
 
+bool isUsingSticksForArming(void);

src/main/mw.c

@@ -498,9 +498,12 @@ void processRx(void)
     }
     // When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
     // mixTable constrains motor commands, so checking  throttleStatus is enough
-    if (ARMING_FLAG(ARMED)
+    if (
+        ARMING_FLAG(ARMED)
         && feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
-        && masterConfig.auto_disarm_delay != 0) {
+        && masterConfig.auto_disarm_delay != 0
+        && isUsingSticksForArming()
+    ) {
         if (throttleStatus == THROTTLE_LOW) {
             if ((int32_t)(disarmAt - millis()) < 0)  // delay is over
                 mwDisarm();