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AP_ICEngine: don't allow engine run with safety on #528

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AP_ICEngine: don't allow engine run with safety on

AP_ICEngine: don't allow engine run with safety on #528

Run time

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Job Run time
build (base)
3m 11s
build (clang)
2m 25s
autotest (sitltest-plane)
30m 51s
autotest (sitltest-quadplane)
16m 51s
53m 18s