Disarm, Engine Control, and Aux-Function Commands Over BLOS

Horizon UI now forwards three more commands to the aircraft over the satellite link: disarm, engine control, and ArduPilot’s aux function (motor E-stop, disarm switch, and similar). Previously these were dropped whenever only the BLOS link was up, leaving no way to disarm, stop the engine, or trigger an aux function once the aircraft was out of radio range.

They behave like the other satellite-forwarded commands (mode changes, waypoints, Return-to-Launch, flight termination, and more): Horizon UI immediately returns an accepted acknowledgement to the GCS application and queues the command to the aircraft over satellite. The acknowledgement confirms Horizon UI accepted the command for delivery, not that the aircraft executed it — confirm the result from telemetry, as with the rest of the BLOS command path.