ACM: Failsafe Fix for Mission planner initiated AUTO mode

Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.

ArduCopter/events.pde

@@ -38,6 +38,10 @@ static void failsafe_on_event()
 
 static void failsafe_off_event()
 {
+	// If we are in AUTO, no need to do anything
+	if(control_mode == AUTO)
+		return;
+
 	if (g.throttle_fs_action == 2){
 		// We're back in radio contact
 		// return to AP

ArduCopter/motors.pde

@@ -12,7 +12,7 @@ static void arm_motors()
 	static int arming_counter;
 
 	// don't allow arming/disarming in anything but manual
-	if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (arming_counter > LEVEL_DELAY)){
+	if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (control_mode == TOY) || (arming_counter > LEVEL_DELAY)){
 		arming_counter = 0;
 		return;
 	}