Copter: implement do_flighttermination

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 {