Skip prearm in freefall

[TimoLehnertz]

I really like having prearm on a switch because I don't need to worry as much about accidentally bumping the arm switch in the time from setting up the quad to actually arming.

But imagine the following situation:
You're flying and for some reason the quad disarms midair. Could be you accidentally disarmed or you landed on a flying wing, or more likely a sanity check in GPS rescue failed (like I had twice today). Having prearm makes it pretty much impossible to rearm before hitting the ground. In order to arm, you need to:
1: enter GPS rescue mode if not already on (it's not on when using failsafe aux)
2: exit GPS rescue mode
3: zero throttle
4: prearm
5: arm
6: pull off the most epic save
Today I managed to get to point 5 after falling from 50 m height.

Crash while testing GPS rescue using failsafe aux:
https://user-images.githubusercontent.com/57093983/210061480-dedc0123-c87d-410a-8db5-c626269835b8.mp4

Wouldn't it make a lot of sense to skip prearm and also zero throttle checks when in freefall?

Example solution:
skip prearm and zero throttle checks when in free fall and the quad has been armed 5 seconds ago
(optional: Keep track of free fall using accelerometer and only skip prearm in case of freefall and 5 seconds after disarm)
This could an opt-in feature

[qvasic]

Skipping pre-arm is one thing (a lot of pilots fly without pre-arm anyway), but zero throttle check... even in your case, image your drone disarms and falls down tumbling and then you suddenly arm with non-zero throttle while quad is upside down.