From ff934d5bca9915edd640739c75a65d6c889a5de1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 31 Aug 2015 12:15:46 +1000
Subject: [PATCH] Copter: added FS_CRASH_CHECK parameter

this allows automatic crash detection to be disabled
---
 ArduCopter/Parameters.cpp  | 7 +++++++
 ArduCopter/Parameters.h    | 4 +++-
 ArduCopter/crash_check.cpp | 4 ++--
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index b6b311c964..a42c9f4fa0 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -496,6 +496,13 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH",    FS_EKF_THRESHOLD_DEFAULT),
 
+    // @Param: FS_CRASH_CHECK
+    // @DisplayName: Crash check enable
+    // @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
+    // @Values: 0:Disabled, 1:Enabled
+    // @User: Advanced
+    GSCALAR(fs_crash_check, "FS_CRASH_CHECK",    1),
+    
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: HS1_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index d54948bedb..30f8a9d17f 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -163,10 +163,11 @@ public:
         k_param_heli_stab_col_max,  // 88
 
         //
-        // 90: Motors
+        // 90: misc2
         //
         k_param_motors = 90,
         k_param_disarm_delay,
+        k_param_fs_crash_check,
 
         // 97: RSSI
         k_param_rssi = 97,
@@ -429,6 +430,7 @@ public:
 
     AP_Int8         land_repositioning;
     AP_Int8         fs_ekf_action;
+    AP_Int8         fs_crash_check;
     AP_Float        fs_ekf_thresh;
     AP_Int16        gcs_pid_mask;
 
diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
index cb3f178322..fe6d994028 100644
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@@ -14,8 +14,8 @@ void Copter::crash_check()
 {
     static uint16_t crash_counter;  // number of iterations vehicle may have been crashed
 
-    // return immediately if disarmed
-    if (!motors.armed() || ap.land_complete) {
+    // return immediately if disarmed, or crash checking disabled
+    if (!motors.armed() || ap.land_complete || g.fs_crash_check == 0) {
         crash_counter = 0;
         return;
     }