坠机保护调整，计时3s，取消屏蔽disarm

ArduCopter/crash_check.cpp

@@ -1,7 +1,7 @@
 #include "Copter.h"
 
 // Code to detect a crash main ArduCopter code
-#define CRASH_CHECK_TRIGGER_SEC         5       // 2 seconds inverted indicates a crash
+#define CRASH_CHECK_TRIGGER_SEC         3       // 3 seconds inverted indicates a crash
 #define CRASH_CHECK_ANGLE_DEVIATION_DEG 30.0f   // 30 degrees beyond angle max is signal we are inverted
 #define CRASH_CHECK_ACCEL_MAX           3.0f    // vehicle must be accelerating less than 3m/s/s to be considered crashed
 #define CRASH_CHECK_ANGLE_MIN_DEG       15.0f   // vehicle must be leaning at least 15deg to trigger crash check
@@ -85,11 +85,7 @@ void Copter::crash_check()
         // send message to gcs
         gcs().send_text(MAV_SEVERITY_EMERGENCY,"坠机:锁定");//Crash: Disarming
         // disarm motors
-        if(g.zr_use_rc != 2){
+        copter.arming.disarm();
-            copter.arming.disarm();
-        }else{
-            crash_counter = 0;
-        }
     }
 }