From a42674b0b05abe92486edb44ad16fd55d95c015e Mon Sep 17 00:00:00 2001
From: squilter <s.quilter@aol.com>
Date: Wed, 12 Aug 2015 10:28:35 -0700
Subject: [PATCH] Copter: implement do_flighttermination

---
 ArduCopter/GCS_Mavlink.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 858ab145fd..22e7e815a0 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1224,6 +1224,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             break;
 
+        case MAV_CMD_DO_FLIGHTTERMINATION:
+            if (packet.param1 > 0.5f) {
+                copter.init_disarm_motors();
+                result = MAV_RESULT_ACCEPTED;
+            }
+            break;
+
         case MAV_CMD_DO_SET_ROI:
             // param1 : regional of interest mode (not supported)
             // param2 : mission index/ target id (not supported)
@@ -1316,6 +1323,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     result = MAV_RESULT_ACCEPTED;
                 }
             } else if (is_zero(packet.param1) && (copter.mode_has_manual_throttle(copter.control_mode) || copter.ap.land_complete || is_equal(packet.param2,21196.0f)))  {
+                // force disarming by setting param2 = 21196 is deprecated
                 copter.init_disarm_motors();
                 result = MAV_RESULT_ACCEPTED;
             } else {