From b8967a76e49d8aceb22c491478bb3488859627e2 Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Mon, 18 Dec 2023 10:42:05 +0900
Subject: [PATCH] AP_Stats: update flight time on disarm

---
 libraries/AP_Stats/AP_Stats.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Stats/AP_Stats.cpp b/libraries/AP_Stats/AP_Stats.cpp
index 2b5343a0876cb..f5a1ade5a47f4 100644
--- a/libraries/AP_Stats/AP_Stats.cpp
+++ b/libraries/AP_Stats/AP_Stats.cpp
@@ -72,6 +72,7 @@ void AP_Stats::flush()
 {
     params.flttime.set_and_save_ifchanged(flttime);
     params.runtime.set_and_save_ifchanged(runtime);
+    last_flush_ms = AP_HAL::millis();
 }
 
 void AP_Stats::update_flighttime()
@@ -101,7 +102,6 @@ void AP_Stats::update()
         update_flighttime();
         update_runtime();
         flush();
-        last_flush_ms = now_ms;
     }
     const uint32_t params_reset = params.reset;
     if (params_reset != reset || params_reset == 0) {
@@ -131,7 +131,11 @@ void AP_Stats::set_flying(const bool is_flying)
             _flying_ms = AP_HAL::millis();
         }
     } else {
-        update_flighttime();
+        if (_flying_ms) {
+            update_flighttime();
+            update_runtime();
+            flush();
+        }
         _flying_ms = 0;
     }
 }