Sub: Add upstream Copter changes.

ArduSub/ArduSub.cpp

@@ -79,19 +79,8 @@
 
 /*
   scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
-  should be listed here, along with how often they should be called
+  should be listed here, along with how often they should be called (in hz)
-  (in 2.5ms units) and the maximum time they are expected to take (in
+  and the maximum time they are expected to take (in microseconds)
-  microseconds)
-  1    = 400hz
-  2    = 200hz
-  4    = 100hz
-  8    = 50hz
-  20   = 20hz
-  40   = 10hz
-  133  = 3hz
-  400  = 1hz
-  4000 = 0.1hz
-  
  */
 const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(rc_loop,              100,    130),

ArduSub/GCS_Mavlink.cpp

@@ -1353,6 +1353,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_MOUNT_CONTROL:
 #if MOUNT == ENABLED
             sub.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
+            result = MAV_RESULT_ACCEPTED;
 #endif
             break;
 

ArduSub/config.h

@@ -171,10 +171,6 @@
  #define FS_RADIO_TIMEOUT_MS            500     // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
 #endif
 
-#ifndef FS_CLOSE_TO_HOME_CM
- # define FS_CLOSE_TO_HOME_CM               500 // if vehicle within 5m of home, vehicle will LAND instead of RTL during some failsafes
-#endif
-
 #ifndef PREARM_DISPLAY_PERIOD
 # define PREARM_DISPLAY_PERIOD 30
 #endif