Rover: use is_armed_and_safety_off()

this changes Rover to not set soft_armed false when safety is on,
making Rover match Copter. Instead the new is_armed_and_safety_off()
method is used where we need to know that actuators are active

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

Rover/AP_Arming_Rover.cpp

@@ -126,8 +126,7 @@ bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
 
 void AP_Arming_Rover::update_soft_armed()
 {
-    hal.util->set_soft_armed(is_armed() &&
-                             hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
+    hal.util->set_soft_armed(is_armed());
 }
 
 /*

Rover/Rover.cpp

@@ -486,20 +486,20 @@ void Rover::one_second_loop(void)
     AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
     AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.armed = arming.is_armed();
-    AP_Notify::flags.flying = hal.util->get_soft_armed();
+    AP_Notify::flags.flying = arming.is_armed_and_safety_off();
 
 #if AP_ROVER_AUTO_ARM_ONCE_ENABLED
     handle_auto_arm_once();
 #endif  // AP_ROVER_AUTO_ARM_ONCE_ENABLED
 
     // attempt to update home position and baro calibration if not armed:
-    if (!hal.util->get_soft_armed()) {
+    if (!arming.is_armed_and_safety_off()) {
         update_home();
     }
 
     // need to set "likely flying" when armed to allow for compass
     // learning to run
-    set_likely_flying(hal.util->get_soft_armed());
+    set_likely_flying(arming.is_armed_and_safety_off());
 
     // send latest param values to wp_nav
     g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());

Rover/mode.cpp

@@ -21,7 +21,7 @@ void Mode::exit()
 
 bool Mode::enter()
 {
-    const bool ignore_checks = !hal.util->get_soft_armed();   // allow switching to any mode if disarmed.  We rely on the arming check to perform
+    const bool ignore_checks = !rover.arming.is_armed_and_safety_off();   // allow switching to any mode if disarmed.  We rely on the arming check to perform
     if (!ignore_checks) {
 
         // get EKF filter status

Rover/mode_auto.cpp

@@ -47,7 +47,7 @@ void ModeAuto::update()
     // check if mission exists (due to being cleared while disarmed in AUTO,
     // if no mission, then stop...needs mode change out of AUTO, mission load,
     // and change back to AUTO to run a mission at this point
-    if (!hal.util->get_soft_armed() && !mission.present()) {
+    if (!rover.arming.is_armed_and_safety_off() && !mission.present()) {
         start_stop();
     }
     // start or update mission