From 98c999d0de2df4f2fd009eb78ff00dc414530ef2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 22 Feb 2020 00:09:57 +1100
Subject: [PATCH] APMrover2: log disarm method

---
 APMrover2/AP_Arming.cpp   | 4 ++--
 APMrover2/AP_Arming.h     | 2 +-
 APMrover2/afs_rover.cpp   | 2 +-
 APMrover2/crash_check.cpp | 4 ++--
 APMrover2/failsafe.cpp    | 4 ++--
 APMrover2/motor_test.cpp  | 2 +-
 APMrover2/radio.cpp       | 2 +-
 7 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index 56ce4fc25e..b3ddfbf1ea 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -135,9 +135,9 @@ bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
 /*
   disarm motors
  */
-bool AP_Arming_Rover::disarm(void)
+bool AP_Arming_Rover::disarm(const AP_Arming::Method method)
 {
-    if (!AP_Arming::disarm()) {
+    if (!AP_Arming::disarm(method)) {
         return false;
     }
     if (rover.control_mode != &rover.mode_auto) {
diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
index fb7fda6be3..72d546d80c 100644
--- a/APMrover2/AP_Arming.h
+++ b/APMrover2/AP_Arming.h
@@ -21,7 +21,7 @@ public:
     bool rc_calibration_checks(const bool display_failure) override;
     bool gps_checks(bool display_failure) override;
 
-    bool disarm() override;
+    bool disarm(AP_Arming::Method method) override;
     bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
 
     void update_soft_armed();
diff --git a/APMrover2/afs_rover.cpp b/APMrover2/afs_rover.cpp
index 3f2aad211c..e0349eefc0 100644
--- a/APMrover2/afs_rover.cpp
+++ b/APMrover2/afs_rover.cpp
@@ -12,7 +12,7 @@
 void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)
 {
     // disarm as well
-    AP::arming().disarm();
+    AP::arming().disarm(AP_Arming::Method::AFS);
 
     // Set to HOLD mode
     rover.set_mode(rover.mode_hold, ModeReason::CRASH_FAILSAFE);
diff --git a/APMrover2/crash_check.cpp b/APMrover2/crash_check.cpp
index 9752668c7c..284c125a4b 100644
--- a/APMrover2/crash_check.cpp
+++ b/APMrover2/crash_check.cpp
@@ -51,14 +51,14 @@ void Rover::crash_check()
         if (is_balancebot()) {
             // send message to gcs
             gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
-            arming.disarm();
+            arming.disarm(AP_Arming::Method::CRASH);
         } else {
             // send message to gcs
             gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
             // change mode to hold and disarm
             set_mode(mode_hold, ModeReason::CRASH_FAILSAFE);
             if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
-                arming.disarm();
+                arming.disarm(AP_Arming::Method::CRASH);
             }
         }
     }
diff --git a/APMrover2/failsafe.cpp b/APMrover2/failsafe.cpp
index 3df6e10848..9d2ed89f6d 100644
--- a/APMrover2/failsafe.cpp
+++ b/APMrover2/failsafe.cpp
@@ -37,7 +37,7 @@ void Rover::failsafe_check()
         // To-Do: log error
         if (arming.is_armed()) {
             // disarm motors
-            arming.disarm();
+            arming.disarm(AP_Arming::Method::CPUFAILSAFE);
         }
     }
 }
@@ -137,7 +137,7 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
                 snprintf(battery_type_str, 17, "%s battery", type_str);
                 g2.afs.gcs_terminate(true, battery_type_str);
 #else
-                arming.disarm();
+                arming.disarm(AP_Arming::Method::BATTERYFAILSAFE);
 #endif // ADVANCED_FAILSAFE == ENABLED
                 break;
         }
diff --git a/APMrover2/motor_test.cpp b/APMrover2/motor_test.cpp
index 185ff3c8c1..81324b3be8 100644
--- a/APMrover2/motor_test.cpp
+++ b/APMrover2/motor_test.cpp
@@ -159,7 +159,7 @@ void Rover::motor_test_stop()
     }
 
     // disarm motors
-    AP::arming().disarm();
+    AP::arming().disarm(AP_Arming::Method::MOTORTEST);
 
     // reset timeout
     motor_test_start_ms = 0;
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 28b5edd8df..80f43b4766 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -98,7 +98,7 @@ void Rover::rudder_arm_disarm_check()
                 }
             } else {
                 // time to disarm!
-                arming.disarm();
+                arming.disarm(AP_Arming::Method::RUDDER);
                 rudder_arm_timer = 0;
             }
         } else {