ArduCopter: add AP_Arming::Method::TOYMODE

as determined at DevCall

Author: peterbarker

ArduCopter/AP_Arming_Copter.cpp

@@ -568,7 +568,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 {
     if (method == AP_Arming::Method::RUDDER) {
 #if TOY_MODE_ENABLED
-        if (g2.toy_mode.enabled()) {
+        if (copter.g2.toy_mode.enabled()) {
             // not armed with sticks in toy mode
             check_failed(true, "Rudder-arming: disabled in toy mode");
             return false;

ArduCopter/toy_mode.cpp

@@ -803,7 +803,7 @@ void ToyMode::action_arm(void)
         // we want GPS and checks are passing, arm and enable fence
         copter.fence.enable(true, AC_FENCE_ALL_FENCES);
 #endif
-        copter.arming.arm(AP_Arming::Method::RUDDER);
+        copter.arming.arm(AP_Arming::Method::TOYMODE);
         if (!copter.motors->armed()) {
             AP_Notify::events.arming_failed = true;
             gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: GPS arming failed");
@@ -819,7 +819,7 @@ void ToyMode::action_arm(void)
         // non-GPS mode
         copter.fence.enable(false, AC_FENCE_ALL_FENCES);
 #endif
-        copter.arming.arm(AP_Arming::Method::RUDDER);
+        copter.arming.arm(AP_Arming::Method::TOYMODE);
         if (!copter.motors->armed()) {
             AP_Notify::events.arming_failed = true;
             gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: non-GPS arming failed");