Plane: disallow mavlink disarm while flying

ArduPlane/AP_Arming.cpp

@@ -275,12 +275,15 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
 bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_checks)
 {
     if (do_disarm_checks &&
-        method == AP_Arming::Method::RUDDER) {
-        // don't allow rudder-disarming in flight:
+        (method == AP_Arming::Method::MAVLINK ||
+         method == AP_Arming::Method::RUDDER)) {
         if (plane.is_flying()) {
-            // obviously this could happen in-flight so we can't warn about it
+            // don't allow mavlink or rudder disarm while flying
             return false;
         }
+    }
+
+    if (do_disarm_checks && method == AP_Arming::Method::RUDDER) {
         // option must be enabled:
         if (get_rudder_arming_type() != AP_Arming::RudderArming::ARMDISARM) {
             gcs().send_text(MAV_SEVERITY_INFO, "Rudder disarm: disabled");

Tools/autotest/arducopter.py

@@ -3961,7 +3961,7 @@ def test_guided_local_position_target(self, x, y, z_up):
 
         if not (m.type_mask == (target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE) or m.type_mask == target_typemask):
             raise NotAchievedException("Did not receive proper mask: expected=%u or %u, got=%u" %
-                  ((target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE), target_typemask, m.type_mask))
+                                       ((target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE), target_typemask, m.type_mask))
 
         if x - m.x > 0.1:
             raise NotAchievedException("Did not receive proper target position x: wanted=%f got=%f" % (x, m.x))
@@ -4012,7 +4012,7 @@ def test_guided_local_velocity_target(self, vx, vy, vz_up, timeout=3):
         # Check the last received message
         if not (m.type_mask == (target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE) or m.type_mask == target_typemask):
             raise NotAchievedException("Did not receive proper mask: expected=%u or %u, got=%u" %
-                  ((target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE), target_typemask, m.type_mask))
+                                       ((target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE), target_typemask, m.type_mask))
 
         if vx - m.vx > 0.1:
             raise NotAchievedException("Did not receive proper target velocity vx: wanted=%f got=%f" % (vx, m.vx))

Tools/autotest/arduplane.py

@@ -1038,7 +1038,7 @@ def ThrottleFailsafe(self):
             "SIM_RC_FAIL": 0,  # fix receiver
         })
         self.zero_throttle()
-        self.disarm_vehicle()
+        self.disarm_vehicle(force=True)
         self.context_pop()
         self.reboot_sitl()
 
@@ -2268,7 +2268,7 @@ def fly_soaring(self):
         self.wait_waypoint(4, 4, timeout=1200, max_dist=120)
 
         # Disarm
-        self.disarm_vehicle()
+        self.disarm_vehicle_expect_fail()
 
         self.progress("Mission OK")
 
@@ -2365,7 +2365,7 @@ def fly_soaring_speed_to_fly(self):
             raise NotAchievedException("Airspeed did not reduce with lower SOAR_VSPEED")
 
         # Disarm
-        self.disarm_vehicle()
+        self.disarm_vehicle_expect_fail()
 
         self.progress("Mission OK")
 
@@ -2872,7 +2872,7 @@ def fail_speed():
             self.context_clear_collection("STATUSTEXT")
             ###################################################################
 
-            self.disarm_vehicle()
+            self.disarm_vehicle(force=True)
 
         except Exception as e:
             self.print_exception_caught(e)

Tools/autotest/common.py

@@ -4361,6 +4361,22 @@ def disarm_vehicle(self, timeout=60, force=False):
                      timeout=timeout)
         return self.wait_disarmed()
 
+    def disarm_vehicle_expect_fail(self):
+        '''disarm, checking first that non-forced disarm fails, then doing a forced disarm'''
+        self.progress("Disarm - expect to fail")
+        self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                     0,  # DISARM
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     timeout=10,
+                     want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+        self.progress("Disarm - forced")
+        self.disarm_vehicle(force=True)
+
     def wait_disarmed_default_wait_time(self):
         return 30
 
@@ -11191,7 +11207,7 @@ def test_frsky_sport(self):
         # ok done, stop the engine
         if self.is_plane():
             self.zero_throttle()
-            if not self.disarm_vehicle():
+            if not self.disarm_vehicle(force=True):
                 raise NotAchievedException("Failed to DISARM")
 
     def test_frsky_d(self):

Tools/autotest/quadplane.py

@@ -248,13 +248,12 @@ def test_airmode(self):
             self.progress("Waiting for Motor1 to speed up")
             self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
 
-            self.progress("Disarm/rearm with GCS")
-            self.disarm_vehicle()
+            self.disarm_vehicle_expect_fail()
             self.arm_vehicle()
 
             self.progress("Verify that airmode is still on")
             self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
-            self.disarm_vehicle()
+            self.disarm_vehicle(force=True)
             self.wait_ready_to_arm()
 
     def test_motor_mask(self):