ArduPlane: log disarm method

ArduPlane/AP_Arming.cpp

@@ -189,9 +189,9 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
 /*
   disarm motors
  */
-bool AP_Arming_Plane::disarm(void)
+bool AP_Arming_Plane::disarm(const AP_Arming::Method method)
 {
-    if (!AP_Arming::disarm()) {
+    if (!AP_Arming::disarm(method)) {
         return false;
     }
     if (plane.control_mode != &plane.mode_auto) {

ArduPlane/AP_Arming.h

@@ -24,7 +24,7 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-    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();

ArduPlane/ArduPlane.cpp

@@ -653,7 +653,7 @@ void Plane::disarm_if_autoland_complete()
         arming.is_armed()) {
         /* we have auto disarm enabled. See if enough time has passed */
         if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {
-            if (arming.disarm()) {
+            if (arming.disarm(AP_Arming::Method::AUTOLANDED)) {
                 gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
             }
         }

ArduPlane/afs_plane.cpp

@@ -53,7 +53,7 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
     plane.quadplane.afs_terminate();
     
     // also disarm to ensure that ignition is cut
-    plane.arming.disarm();
+    plane.arming.disarm(AP_Arming::Method::AFS);
 }
 
 void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)

ArduPlane/commands_logic.cpp

@@ -559,7 +559,7 @@ bool Plane::verify_takeoff()
             uint32_t now = AP_HAL::millis();
             if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout at %.1f m/s", ground_speed);
-                plane.arming.disarm();
+                plane.arming.disarm(AP_Arming::Method::TAKEOFFTIMEOUT);
                 mission.reset();
             }
         }

ArduPlane/events.cpp

@@ -194,7 +194,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             snprintf(battery_type_str, 17, "%s battery", type_str);
             afs.gcs_terminate(true, battery_type_str);
 #else
-            arming.disarm();
+            arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
 #endif
             break;
 

ArduPlane/is_flying.cpp

@@ -305,7 +305,7 @@ void Plane::crash_detection_update(void)
         }
         else {
             if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
-                arming.disarm();
+                arming.disarm(AP_Arming::Method::CRASH);
             }
             if (crashed_near_land_waypoint) {
                 gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");

ArduPlane/quadplane.cpp

@@ -2729,7 +2729,7 @@ void QuadPlane::check_land_complete(void)
         return;
     }
     if (land_detector(4000)) {
-        plane.arming.disarm();
+        plane.arming.disarm(AP_Arming::Method::LANDED);
         poscontrol.state = QPOS_LAND_COMPLETE;
         gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
         // reload target airspeed which could have been modified by the mission

ArduPlane/radio.cpp

@@ -165,7 +165,7 @@ void Plane::rudder_arm_disarm_check()
                 }
 			} else {
 				//time to disarm!
-				arming.disarm();
+				arming.disarm(AP_Arming::Method::RUDDER);
 				rudder_arm_timer = 0;
 			}
 		} else {