diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index be485c12ec..c96f862e3f 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -141,13 +141,6 @@ void Rover::loop()
     G_Dt = scheduler.get_last_loop_time_s();
 }
 
-void AP_Arming_Rover::update_soft_armed()
-{
-    hal.util->set_soft_armed(is_armed() &&
-                             hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
-    AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
-}
-
 // update AHRS system
 void Rover::ahrs_update()
 {
diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index 2048dc5622..0a253a4bc0 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -121,3 +121,66 @@ bool AP_Arming_Rover::proximity_check(bool report)
 
     return true;
 }
+
+void AP_Arming_Rover::update_soft_armed()
+{
+    hal.util->set_soft_armed(is_armed() &&
+                             hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
+    AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
+}
+
+/*
+  update AHRS soft arm state and log as needed
+ */
+void AP_Arming_Rover::change_arm_state(void)
+{
+    Log_Write_Arm_Disarm();
+    update_soft_armed();
+}
+
+/*
+  arm motors
+ */
+bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
+{
+    if (!AP_Arming::arm(method, do_arming_checks)) {
+        AP_Notify::events.arming_failed = true;
+        return false;
+    }
+
+    // Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
+    rover.g2.smart_rtl.set_home(true);
+
+    // initialize simple mode heading
+    rover.mode_simple.init_heading();
+
+    // save home heading for use in sail vehicles
+    rover.g2.windvane.record_home_heading();
+
+    change_arm_state();
+
+    gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
+
+    return true;
+}
+
+/*
+  disarm motors
+ */
+bool AP_Arming_Rover::disarm(void)
+{
+    if (!AP_Arming::disarm()) {
+        return false;
+    }
+    if (rover.control_mode != &rover.mode_auto) {
+        // reset the mission on disarm if we are not in auto
+        rover.mode_auto.mission.reset();
+    }
+
+    // only log if disarming was successful
+    change_arm_state();
+
+    gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
+
+    return true;
+}
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index fb87a6d9a3..b20d80c57f 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -314,62 +314,6 @@ bool Rover::should_log(uint32_t mask)
     return logger.should_log(mask);
 }
 
-/*
-  update AHRS soft arm state and log as needed
- */
-void AP_Arming_Rover::change_arm_state(void)
-{
-    Log_Write_Arm_Disarm();
-    update_soft_armed();
-}
-
-/*
-  arm motors
- */
-bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
-{
-    if (!AP_Arming::arm(method, do_arming_checks)) {
-        AP_Notify::events.arming_failed = true;
-        return false;
-    }
-
-    // Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
-    rover.g2.smart_rtl.set_home(true);
-
-    // initialize simple mode heading
-    rover.mode_simple.init_heading();
-
-    // save home heading for use in sail vehicles
-    rover.g2.windvane.record_home_heading();
-
-    change_arm_state();
-
-    gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
-
-    return true;
-}
-
-/*
-  disarm motors
- */
-bool AP_Arming_Rover::disarm(void)
-{
-    if (!AP_Arming::disarm()) {
-        return false;
-    }
-    if (rover.control_mode != &rover.mode_auto) {
-        // reset the mission on disarm if we are not in auto
-        rover.mode_auto.mission.reset();
-    }
-
-    // only log if disarming was successful
-    change_arm_state();
-
-    gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
-
-    return true;
-}
-
 // returns true if vehicle is a boat
 // this affects whether the vehicle tries to maintain position after reaching waypoints
 bool Rover::is_boat() const