multiple fixes to emergency disarm command

Author: squilter

ClientLib/src/main/java/com/o3dr/android/client/Drone.java

@@ -481,7 +481,7 @@ public void generateDronie() {
     }
 
     public void arm(boolean arm) {
-        DroneStateApi.arm(this, arm, false);
+        DroneStateApi.arm(this, arm);
     }
 
     /**

ClientLib/src/main/java/com/o3dr/android/client/apis/drone/DroneStateApi.java

@@ -23,10 +23,7 @@ public class DroneStateApi {
      * @param arm true to arm, false to disarm.
      */
     public static void arm(Drone drone, boolean arm) {
-        Bundle params = new Bundle();
-        params.putBoolean(EXTRA_ARM, arm);
-        params.putBoolean(EXTRA_EMERGENCY_DISARM, false);
-        drone.performAsyncAction(new Action(ACTION_ARM, params));
+        arm(drone, arm, false);
     }
 
     /**

ServiceApp/src/org/droidplanner/services/android/api/DroneApi.java

@@ -400,7 +400,8 @@ public void performAction(Action action) throws RemoteException {
             //DRONE STATE ACTIONS
             case StateActions.ACTION_ARM:
                 boolean doArm = data.getBoolean(StateActions.EXTRA_ARM);
-                DroneApiUtils.arm(getDrone(), doArm);
+                boolean emergencyDisarm = data.getBoolean(StateActions.EXTRA_EMERGENCY_DISARM);
+                DroneApiUtils.arm(getDrone(), doArm, emergencyDisarm);
                 break;
 
             case StateActions.ACTION_SET_VEHICLE_MODE:

ServiceApp/src/org/droidplanner/services/android/api/DroneApiUtils.java

@@ -670,10 +670,14 @@ static float generateDronie(Drone drone) {
         return (float) drone.getMission().makeAndUploadDronie();
     }
 
+    static void arm(Drone drone, boolean arm) {
+        arm(drone, arm, false);
+    }
+
     static void arm(Drone drone, boolean arm, boolean emergencyDisarm) {
         if (drone == null)
             return;
-        MavLinkArm.sendArmMessage(drone, arm, false);
+        MavLinkArm.sendArmMessage(drone, arm, emergencyDisarm);
     }
 
     static void startMagnetometerCalibration(Drone drone, boolean retryOnFailure, boolean saveAutomatically, int

dependencyLibs/Core/src/org/droidplanner/core/MAVLink/MavLinkArm.java

@@ -7,14 +7,16 @@
 
 public class MavLinkArm {
 
+public static final int EMERGENCY_DISARM_MAGIC_NUMBER = 21196;
+
 	public static void sendArmMessage(Drone drone, boolean arm, boolean emergencyDisarm) {
 		msg_command_long msg = new msg_command_long();
 		msg.target_system = drone.getSysid();
 		msg.target_component = drone.getCompid();
 
 		msg.command = MAV_CMD.MAV_CMD_COMPONENT_ARM_DISARM;
 		msg.param1 = arm ? 1 : 0;
-		msg.param2 = emergencyDisarm ? 21196 : 0;//21196 is a magic number to disarm even if flying
+		msg.param2 = emergencyDisarm ? EMERGENCY_DISARM_MAGIC_NUMBER : 0;
 		msg.param3 = 0;
 		msg.param4 = 0;
 		msg.param5 = 0;