diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 5eae0afc39..827092b301 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -188,11 +188,19 @@ uint16_t AP_Arming::compass_magfield_expected() const
     return AP_ARMING_COMPASS_MAGFIELD_EXPECTED;
 }
 
-bool AP_Arming::is_armed()
+bool AP_Arming::is_armed() const
 {
     return armed || arming_required() == Required::NO;
 }
 
+/*
+  true if armed and safety is off
+ */
+bool AP_Arming::is_armed_and_safety_off() const
+{
+    return is_armed() && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED;
+}
+
 uint32_t AP_Arming::get_enabled_checks() const
 {
     return checks_to_perform;
@@ -1616,7 +1624,7 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
     return true;
 }
 
-AP_Arming::Required AP_Arming::arming_required() 
+AP_Arming::Required AP_Arming::arming_required() const
 {
 #if AP_OPENDRONEID_ENABLED
     // cannot be disabled if OpenDroneID is present
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 0acda955cb..70e0611ac9 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -85,10 +85,11 @@ public:
     void init(void);
 
     // these functions should not be used by Copter which holds the armed state in the motors library
-    Required arming_required();
+    Required arming_required() const;
     virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
     virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
-    bool is_armed();
+    bool is_armed() const;
+    bool is_armed_and_safety_off() const;
 
     // get bitmask of enabled checks
     uint32_t get_enabled_checks() const;