ArduCopter: log disarm method

ArduCopter/AP_Arming.cpp

@@ -827,14 +827,14 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
 }
 
 // arming.disarm - disarm motors
-bool AP_Arming_Copter::disarm()
+bool AP_Arming_Copter::disarm(const AP_Arming::Method method)
 {
     // return immediately if we are already disarmed
     if (!copter.motors->armed()) {
         return true;
     }
 
-    if (!AP_Arming::disarm()) {
+    if (!AP_Arming::disarm(method)) {
         return false;
     }
 

ArduCopter/AP_Arming.h

@@ -23,7 +23,7 @@ public:
 
     bool rc_calibration_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;
 
 protected:

ArduCopter/GCS_Mavlink.cpp

@@ -836,7 +836,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         if (copter.motors->armed()) {
             if (copter.ap.land_complete) {
                 // if landed, disarm motors
-                copter.arming.disarm();
+                copter.arming.disarm(AP_Arming::Method::SOLOPAUSEWHENLANDED);
             } else {
                 // assume that shots modes are all done in guided.
                 // NOTE: this may need to change if we add a non-guided shot mode
@@ -1255,7 +1255,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_l
     if (GCS_MAVLINK::handle_flight_termination(packet) != MAV_RESULT_ACCEPTED) {
 #endif
         if (packet.param1 > 0.5f) {
-            copter.arming.disarm();
+            copter.arming.disarm(AP_Arming::Method::TERMINATION);
             result = MAV_RESULT_ACCEPTED;
         }
 #if ADVANCED_FAILSAFE == ENABLED

ArduCopter/afs_copter.cpp

@@ -25,7 +25,7 @@ void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
         copter.motors->output();
 
         // disarm as well
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::AFS);
     
         // and set all aux channels
         SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::Limit::TRIM);

ArduCopter/avoidance_adsb.cpp

@@ -34,7 +34,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
 
     // if landed and we will take some kind of action, just disarm
     if ((actual_action > MAV_COLLISION_ACTION_REPORT) && copter.should_disarm_on_failsafe()) {
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::ADSBCOLLISIONACTION);
         actual_action = MAV_COLLISION_ACTION_NONE;
     } else {
 

ArduCopter/crash_check.cpp

@@ -67,7 +67,7 @@ void Copter::crash_check()
         // send message to gcs
         gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming");
         // disarm motors
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::CRASH);
     }
 }
 
@@ -234,7 +234,7 @@ void Copter::parachute_check()
 void Copter::parachute_release()
 {
     // disarm motors
-    arming.disarm();
+    arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE);
 
     // release parachute
     parachute.release();

ArduCopter/events.cpp

@@ -41,7 +41,7 @@ void Copter::failsafe_radio_on_event()
     if (should_disarm_on_failsafe()) {
         // should immediately disarm when we're on the ground
         gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Disarming");
-        arming.disarm();
+        arming.disarm(AP_Arming::Method::RADIOFAILSAFE);
         desired_action = Failsafe_Action_None;
 
     } else if (flightmode->is_landing() && ((battery.has_failsafed() && battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY))) {
@@ -91,7 +91,7 @@ void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
     // Conditions to deviate from BATT_FS_XXX_ACT parameter setting
     if (should_disarm_on_failsafe()) {
         // should immediately disarm when we're on the ground
-        arming.disarm();
+        arming.disarm(AP_Arming::Method::BATTERYFAILSAFE);
         desired_action = Failsafe_Action_None;
         gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe - Disarming");
 
@@ -175,7 +175,7 @@ void Copter::failsafe_gcs_on_event(void)
 
     } else if (should_disarm_on_failsafe()) {
         // should immediately disarm when we're on the ground
-        arming.disarm();
+        arming.disarm(AP_Arming::Method::GCSFAILSAFE);
         desired_action = Failsafe_Action_None;
         gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe - Disarming");
 
@@ -259,7 +259,7 @@ void Copter::failsafe_terrain_on_event()
     AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
 
     if (should_disarm_on_failsafe()) {
-        arming.disarm();
+        arming.disarm(AP_Arming::Method::TERRAINFAILSAFE);
 #if MODE_RTL_ENABLED == ENABLED
     } else if (control_mode == Mode::Number::RTL) {
         mode_rtl.restart_without_terrain();
@@ -375,7 +375,7 @@ void Copter::do_failsafe_action(Failsafe_Action action, ModeReason reason){
             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::FAILSAFE_ACTION_TERMINATE);
 #endif
     }
 }

ArduCopter/fence.cpp

@@ -30,7 +30,7 @@ void Copter::fence_check()
             // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
             // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
             if (ap.land_complete || (flightmode->has_manual_throttle() && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
-                arming.disarm();
+                arming.disarm(AP_Arming::Method::FENCEBREACH);
 
             } else {
 

ArduCopter/land_detector.cpp

@@ -120,7 +120,7 @@ void Copter::set_land_complete(bool b)
     const bool mode_disarms_on_land = flightmode->allows_arming(false) && !flightmode->has_manual_throttle();
 
     if (ap.land_complete && motors->armed() && disarm_on_land_configured && mode_disarms_on_land) {
-        arming.disarm();
+        arming.disarm(AP_Arming::Method::LANDED);
     }
 }
 

ArduCopter/mode_auto.cpp

@@ -528,7 +528,7 @@ void ModeAuto::exit_mission()
         }
     } else {
         // if we've landed it's safe to disarm
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::MISSIONEXIT);
     }
 }
 

ArduCopter/mode_land.cpp

@@ -58,7 +58,7 @@ void ModeLand::gps_run()
 {
     // disarm when the landing detector says we've landed
     if (copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::LANDED);
     }
 
     // Land State Machine Determination
@@ -113,7 +113,7 @@ void ModeLand::nogps_run()
 
     // disarm when the landing detector says we've landed
     if (copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::LANDED);
     }
 
     // Land State Machine Determination

ArduCopter/mode_rtl.cpp

@@ -386,7 +386,7 @@ void ModeRTL::land_run(bool disarm_on_land)
 
     // disarm when the landing detector says we've landed
     if (disarm_on_land && copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
-        copter.arming.disarm();
+        copter.arming.disarm(AP_Arming::Method::LANDED);
     }
 
     // if not armed set throttle to zero and exit immediately

ArduCopter/motors.cpp

@@ -71,7 +71,7 @@ void Copter::arm_motors_check()
 
         // disarm the motors
         if (arming_counter == DISARM_DELAY && motors->armed()) {
-            arming.disarm();
+            arming.disarm(AP_Arming::Method::RUDDER);
         }
 
     // Yaw is centered so reset arming counter
@@ -124,7 +124,7 @@ void Copter::auto_disarm_check()
 
     // disarm once timer expires
     if ((tnow_ms-auto_disarm_begin) >= disarm_delay_ms) {
-        arming.disarm();
+        arming.disarm(AP_Arming::Method::DISARMDELAY);
         auto_disarm_begin = tnow_ms;
     }
 }

ArduCopter/toy_mode.cpp

@@ -410,7 +410,7 @@ void ToyMode::update()
         const uint8_t disarm_limit = copter.flightmode->has_manual_throttle()?TOY_LAND_MANUAL_DISARM_COUNT:TOY_LAND_DISARM_COUNT;
         if (throttle_low_counter >= disarm_limit) {
             gcs().send_text(MAV_SEVERITY_INFO, "Tmode: throttle disarm");
-            copter.arming.disarm();
+            copter.arming.disarm(AP_Arming::Method::TLANDTHROTTLE);
         }
     } else {
         throttle_low_counter = 0;
@@ -569,7 +569,7 @@ void ToyMode::update()
     case ACTION_DISARM:
         if (copter.motors->armed()) {
             gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: Force disarm");
-            copter.arming.disarm();
+            copter.arming.disarm(AP_Arming::Method::TLANDFORCE);
         }
         break;