This flight mode allows for position hold with optical flow without
needing a rangefinder for height. It can estimate its height from the
flow data and IMU
Now calls AP_SmartRTL::set_home when arming. In addition, it calls it whenever
the ahrs home is set to the current location, whether by GCS or in-flight
Copter: merge
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.
This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.
This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.
Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
If a the mount instances (gimbal) does not support yaw/pan control, the
copter needs to yaw in response to a DO_MOUNT_CONTROL command in
missions. Checking if the mount has pan control, and if not, yawing the
copter was missing from the mission commands logic. As such, a
MOUNT_CONTROL command would control pitch but not yaw/pan. This patch
impliments checking for pan control, and initiating copter yaw as
required.
If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic. As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
Andrew Tridgell
Michael du Breuil
Tatsuya Yamaguchi
Peter Barker
murata
Randy Mackay
Pierre Kancir
Dylan Herman
Alexey Bulatov
Leonard Hall
Matt