diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index f76a5acd7bbbb6db4c6092f6fba453a0bca169e8..e54e999d1af710ee9e064d6601e9ea1856be30c8 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1382,6 +1382,10 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
       <decimal>0</decimal>
       <increment>0.05</increment>
     </parameter>
+    <parameter name="COM_REARM_GRACE" default="1" type="INT32">
+      <short_desc>Rearming grace period</short_desc>
+      <long_desc>Re-arming grace allows to rearm the drone with manual command without running prearmcheck during 5 s after disarming.</long_desc>
+    </parameter>
     <parameter name="COM_VEL_FS_EVH" default="1" type="FLOAT">
       <short_desc>Horizontal velocity error threshold</short_desc>
       <long_desc>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>