diff --git a/ArduSub/failsafe.cpp b/ArduSub/failsafe.cpp
index 23339793fc..f3a6377145 100644
--- a/ArduSub/failsafe.cpp
+++ b/ArduSub/failsafe.cpp
@@ -58,7 +58,7 @@ void Sub::mainloop_failsafe_check()
         // disarm motors every second
         failsafe_last_timestamp = tnow;
         if (motors.armed()) {
-            motors.armed(false);
+            arming.disarm();
             motors.output();
         }
     }
diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index 89e6566a1a..3c0994f71a 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -70,7 +70,7 @@ bool Sub::verify_motor_test()
 
     if (!pass) {
         ap.motor_test = false;
-        motors.armed(false); // disarm motors
+        arming.disarm(); // disarm motors
         last_do_motor_test_fail_ms = AP_HAL::millis();
         return false;
     }