AP_Arming: move Log_Write_Arm_Disarm in, make disarm virtual

libraries/AP_Arming/AP_Arming.cpp

@@ -900,6 +900,17 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
     return ret;
 }
 
+void AP_Arming::Log_Write_Arm_Disarm()
+{
+    struct log_Arm_Disarm pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
+        time_us                 : AP_HAL::micros64(),
+        arm_state               : is_armed(),
+        arm_checks              : get_enabled_checks()
+    };
+    AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
+}
+
 AP_Arming *AP_Arming::_singleton = nullptr;
 
 /*

libraries/AP_Arming/AP_Arming.h

@@ -51,7 +51,7 @@ 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);
-    bool disarm();
+    virtual bool disarm();
     bool is_armed();
 
     // get bitmask of enabled checks
@@ -133,6 +133,8 @@ protected:
     // handle the case where a check fails
     void check_failed(const enum AP_Arming::ArmingChecks check, bool report, const char *fmt, ...) const;
 
+    void Log_Write_Arm_Disarm();
+
 private:
 
     static AP_Arming *_singleton;