/* update AHRS soft arm state and log as needed */ void Plane::change_arm_state(void) { Log_Arm_Disarm(); hal.util->set_soft_armed(arming.is_armed() && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED); quadplane.set_armed(hal.util->get_soft_armed()); }
/* update AHRS soft arm state and log as needed */ void Plane::change_arm_state(void) { Log_Arm_Disarm(); hal.util->set_soft_armed(arming.is_armed() && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED); // log the mode, so the following log is recorded as the correct mode if (should_log(MASK_LOG_MODE)) { DataFlash.Log_Write_Mode(control_mode); } }
/* update AHRS soft arm state and log as needed */ void Rover::change_arm_state(void) { Log_Arm_Disarm(); update_soft_armed(); }