diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 574f261..35d44b2 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -949,8 +949,8 @@ bool FirmwarePlugin::_armVehicleAndValidate(Vehicle* vehicle)
     // Only try arming the vehicle a single time. Doing retries on arming with a delay can lead to safety issues.
     vehicle->setArmed(true, false /* showError */);
 
-    // Wait 1000 msecs for vehicle to arm
-    for (int i=0; i<10; i++) {
+    // Wait 1500 msecs for vehicle to arm (waiting for the next heartbeat)
+    for (int i = 0; i < 15; i++) {
         if (vehicle->armed()) {
             vehicleArmed = true;
             break;