Plane: small arming tidyups

ArduPlane/ArduPlane.pde

@@ -690,19 +690,19 @@ static uint16_t mainLoop_count;
 #if MOUNT == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
 // mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
-AP_Mount camera_mount(&current_loc, g_gps, ahrs, 0);
+static AP_Mount camera_mount(&current_loc, g_gps, ahrs, 0);
 #endif
 
 #if MOUNT2 == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
 // mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
-AP_Mount camera_mount2(&current_loc, g_gps, ahrs, 1);
+static AP_Mount camera_mount2(&current_loc, g_gps, ahrs, 1);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
 // Arming/Disarming mangement class
 ////////////////////////////////////////////////////////////////////////////////
-AP_Arming arming(ahrs, barometer, home_is_set, gcs_send_text_P);
+static AP_Arming arming(ahrs, barometer, home_is_set, gcs_send_text_P);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Top-level logic
@@ -775,12 +775,6 @@ void setup() {
 
     init_ardupilot();
 
-    //if no user intervention require to arm, then just arm already
-    //(maintain old behavior)
-    if (arming.arming_required() == AP_Arming::NO) {
-        arming.arm(AP_Arming::NONE);
-    }
-
     // initialise the main loop scheduler
     scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
 }
@@ -1083,7 +1077,8 @@ static void update_GPS(void)
         }
 #endif        
 
-        if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
+        if (!arming.is_armed() ||
+            hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
             update_home();
         }
     }

ArduPlane/GCS_Mavlink.pde

@@ -1287,14 +1287,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     if (arming.arm(AP_Arming::MAVLINK)) {
                         //only log if arming was successful
                         Log_Arm_Disarm();
+                        result = MAV_RESULT_ACCEPTED;
+                    } else {
+                        result = MAV_RESULT_FAILED;
                     }
-                    result = MAV_RESULT_ACCEPTED;
                 } else if (packet.param1 == 0.0f)  {
                     if (arming.disarm()) {
                         //only log if disarming was successful
                         Log_Arm_Disarm();
+                        result = MAV_RESULT_ACCEPTED;
+                    } else {
+                        result = MAV_RESULT_FAILED;
                     }
-                    result = MAV_RESULT_ACCEPTED;
                 } else {
                     result = MAV_RESULT_UNSUPPORTED;
                 }

ArduPlane/radio.pde

@@ -63,12 +63,13 @@ static void init_rc_out()
 }
 
 // check for pilot input on rudder stick for arming
-static void rudder_arm_check() {
+static void rudder_arm_check() 
+{
     //TODO: ensure rudder arming disallowed during radio calibration
 
     //TODO: waggle ailerons and rudder and beep after rudder arming
     
-    static uint32_t rudder_arm_timer = 0;
+    static uint32_t rudder_arm_timer;
 
     if (arming.is_armed()) {
         //already armed, no need to run remainder of this function
@@ -82,7 +83,7 @@ static void rudder_arm_check() {
     }
 
     //if throttle is not down, then pilot cannot rudder arm
-    if(g.rc_3.control_in > 0 ) {
+    if (g.rc_3.control_in > 0) {
         rudder_arm_timer = 0;
         return;
     }
@@ -95,12 +96,12 @@ static void rudder_arm_check() {
 
     // full left or right rudder starts arming counter
     if (g.rc_4.control_in > 4000 
-            || g.rc_4.control_in < -4000) {
+        || g.rc_4.control_in < -4000) {
         
         uint32_t now = millis();
 
         if (rudder_arm_timer == 0 || 
-              now - rudder_arm_timer < 3000) {
+            now - rudder_arm_timer < 3000) {
 
             if (rudder_arm_timer == 0) rudder_arm_timer = now;
         } else {