From 813c9e8f7f50cb9c4caaeaee3289476364bd6e35 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 3 Feb 2024 14:23:05 +1100
Subject: [PATCH] Plane: fixed handling of arming with safety on

if safety is on and you force arm them turn safety off then Q modes
cannot run the motors as the AP_Motors armed state will still be off.

This ensures that the motors are armed immediately we arm. This
matches what copter does when arming with safety on
---
 ArduPlane/AP_Arming.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 28c8e8e235..d7ecaa03fa 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -294,7 +294,7 @@ void AP_Arming_Plane::change_arm_state(void)
 {
     update_soft_armed();
 #if HAL_QUADPLANE_ENABLED
-    plane.quadplane.set_armed(is_armed_and_safety_off());
+    plane.quadplane.set_armed(hal.util->get_soft_armed());
 #endif
 }