Plane: added arm_motors() and disarm_motors() helper functions

ArduPlane/ArduPlane.pde

@@ -151,6 +151,7 @@ static AP_Notify notify;
 static void update_events(void);
 void gcs_send_text_fmt(const prog_char_t *fmt, ...);
 static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
+static bool arm_motors(AP_Arming::ArmingMethod method);
 
 ////////////////////////////////////////////////////////////////////////////////
 // DataFlash

ArduPlane/system.pde

@@ -718,3 +718,43 @@ static void change_arm_state(void)
         DataFlash.Log_Write_Mode(control_mode);
     }
 }
+
+/*
+  arm motors
+ */
+static bool arm_motors(AP_Arming::ArmingMethod method)
+{
+    if (!arming.arm(method)) {
+        return false;
+    }
+
+    //only log if arming was successful
+    channel_throttle->enable_out();
+    change_arm_state();
+    return true;
+}
+
+/*
+  disarm motors
+ */
+static bool disarm_motors(void)
+{
+    if (!arming.disarm()) {
+        return false;
+    }
+    if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
+        channel_throttle->disable_out();  
+    }
+    if (control_mode != AUTO) {
+        // reset the mission on disarm if we are not in auto
+        mission.reset();
+    }
+
+    // suppress the throttle in auto-throttle modes
+    throttle_suppressed = auto_throttle_mode;
+    
+    //only log if disarming was successful
+    change_arm_state();
+
+    return true;
+}