I am using rover frame. Throttle and steering is working regardless of arm / disarm state. I have configured channel 7 to arm / disarm from RC remote. I can see from Mission Planner that the state is changing.
Board safety switch works and actually disarms the motors.
Where can I configure arm / disarm correctly?
Why are my motors working?
It was my bad. If the rover is in Manual MODE and in DISARMED state the steering servos still work.
But my “Throttle” was configured so that I was receiving and just resending the RC signal to motors (basically just a bypass). Under servo output menu I selected RC1 for both of my motors so the ARMING and DISARMING did not do a thing, because I just bypassed the signal. I needed this to get the reverse working with the throttle stick.
As soon as I configured the servo output to “Throttle” arming and disarming worked as expected.
Also configured another switch for changing modes. Now I can put the boat to hold.