add crash detection, allow disengage via param CRASH_DETECT
improved is_flying behavior
take off, landing and hard-landing improvements
add stillness check to is_flying and log it
minimum airspeed is determined ARSPD_FBW_MIN*0.75
this fixes a bug where a mode switch change during an AUTO mission
which does not change the flight mode would cause cross tracking to be
reset, so the plane will not correctly follow the desired track
Many thanks to Michael Du Breuil for the log that showed this bug
setup the MODESWITCH channel as our OVERRIDE_CHAN, allowing for
instant manual passthru in px4io when OVERRIDE_CHAN goes above 1750
This makes for faster switching, and avoids bugs where a still enabled
FMU channel disables override
When arming we need to ensure that we don't enable any channels
otherwise PX4IO will think that FMU is active and will stop running
the internal RC mixer
this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
initialise mount on startup
use mount.has_pan_control method
remove calls to unimplemented mount.configure_cmd
remove call to update_mount_type which is now handled by mount lib
- rc_override_active is never set anywhere in the ArduPlane code; it's only used for Copter and Rover. Removing it significantly simplifies the failsafe code.
- modified code has been tested in SITL. Heartbeat and RC failures in AUTO, CRUISE, and RTL modes (covering the three cases in the failsafe check functions) have been simulated with FS_LONG_ACTN = 0, 1, and 2, FS_SHORT_ACTN = 0, 1, and 2, and FS_GCS_ENABL = 0, 1, and 2. In all cases the results are identical to those with the original code.
squilter
Andrew Tridgell
ziltoid2
Tom Pittenger
Andre Kjellstrup
Randy Mackay
Grant Morphett
Michael Day
Jonathan Challinger
Matthias Badaire
Robert Lefebvre
Dario Lindo Andres
priseborough
Andrew Tridgell
Evan Slatyer