Plane: added is_armed_and_safety_off() #22904
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this no longer sets soft_armed false when safety is on, and instead uses is_armed_and_safety_off() when appropriate
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this changes plane to not set soft_armed false when safety off, making plane match copter
instead a new method is_armed_and_safety_off() is used where we do need to know that actuators are active
see also #22899
test flown on CubeOrange quadplane