AP_Arming: log disarm method

libraries/AP_Arming/AP_Arming.cpp

@@ -943,14 +943,14 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
 }
 
 //returns true if disarming occurred successfully
-bool AP_Arming::disarm() 
+bool AP_Arming::disarm(const AP_Arming::Method method)
 {
     if (!armed) { // already disarmed
         return false;
     }
     armed = false;
 
-    Log_Write_Disarm(); // should be able to pass through method and/or force here?
+    Log_Write_Disarm(method); // should be able to pass through force here?
 
 #if HAL_HAVE_SAFETY_SWITCH
     AP_BoardConfig *board_cfg = AP_BoardConfig::get_singleton();
@@ -1035,7 +1035,7 @@ void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method)
     AP::logger().Write_Event(LogEvent::ARMED);
 }
 
-void AP_Arming::Log_Write_Disarm()
+void AP_Arming::Log_Write_Disarm(const AP_Arming::Method method)
 {
     const struct log_Arm_Disarm pkt {
         LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
@@ -1043,7 +1043,7 @@ void AP_Arming::Log_Write_Disarm()
         arm_state               : is_armed(),
         arm_checks              : 0,
         forced                  : 0,
-        method                  : 0
+        method                  : (uint8_t)method
     };
     AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
     AP::logger().Write_Event(LogEvent::DISARMED);

libraries/AP_Arming/AP_Arming.h

@@ -42,6 +42,30 @@ public:
         AUXSWITCH = 2,
         MOTORTEST = 3,
         SCRIPTING = 4,
+        TERMINATION = 5, // only disarm uses this...
+        CPUFAILSAFE = 6, // only disarm uses this...
+        BATTERYFAILSAFE = 7, // only disarm uses this...
+        SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
+        AFS = 9, // only disarm uses this...
+        ADSBCOLLISIONACTION = 10, // only disarm uses this...
+        PARACHUTE_RELEASE = 11, // only disarm uses this...
+        CRASH = 12, // only disarm uses this...
+        LANDED = 13, // only disarm uses this...
+        MISSIONEXIT = 14, // only disarm uses this...
+        FENCEBREACH = 15, // only disarm uses this...
+        RADIOFAILSAFE = 16, // only disarm uses this...
+        DISARMDELAY = 17, // only disarm uses this...
+        GCSFAILSAFE = 18, // only disarm uses this...
+        TERRRAINFAILSAFE = 19, // only disarm uses this...
+        FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
+        TERRAINFAILSAFE = 21, // only disarm uses this...
+        MOTORDETECTDONE = 22, // only disarm uses this...
+        BADFLOWOFCONTROL = 23, // only disarm uses this...
+        EKFFAILSAFE = 24, // only disarm uses this...
+        GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
+        GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
+        TAKEOFFTIMEOUT = 27, // only disarm uses this...
+        AUTOLANDED = 28, // only disarm uses this...
     };
 
     enum class Required {
@@ -55,7 +79,7 @@ public:
     // these functions should not be used by Copter which holds the armed state in the motors library
     Required arming_required();
     virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
-    virtual bool disarm();
+    virtual bool disarm(AP_Arming::Method method);
     bool is_armed();
 
     // get bitmask of enabled checks
@@ -148,7 +172,7 @@ protected:
     void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
 
     void Log_Write_Arm(bool forced, AP_Arming::Method method);
-    void Log_Write_Disarm();
+    void Log_Write_Disarm(AP_Arming::Method method);
 
 private: