AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS

this fixes motortest on quadplanes, so that ESCs see an armed state
during the test

libraries/AP_UAVCAN/AP_UAVCAN.cpp

@@ -665,7 +665,7 @@ void AP_UAVCAN::safety_state_send()
 
     { // handle ArmingStatus
         uavcan::equipment::safety::ArmingStatus arming_msg;
-        arming_msg.status = AP::arming().is_armed() ? uavcan::equipment::safety::ArmingStatus::STATUS_FULLY_ARMED :
+        arming_msg.status = hal.util->get_soft_armed() ? uavcan::equipment::safety::ArmingStatus::STATUS_FULLY_ARMED :
                                                       uavcan::equipment::safety::ArmingStatus::STATUS_DISARMED;
         arming_status[_driver_index]->broadcast(arming_msg);
     }