This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero. Before this check it would
continue to attempt to hold it's
This check is redundant now that we have a check within the arm_check()
function.
Removing this check does raise a slight danger that someone could raise
the throttle after arming but before the gyro and baro calibration has
completed but the delay has been greatly shortened from what it once was
so there is much less danger that someone could approach the vehicle
during the short arming delay.
Copter does not yet rely on the terrain data (it's for informational
purposes only) so we will temporarily disable the failure flags to the
GCS to avoid support calls
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
The short delay gives time for the RC inputs to be processed which
removes the chance of a false-positive on the "late frame" radio check.
A false positive could lead to an immediate disarm right after arming.
Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s. Previously it was 50 cumulative.
Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
Added Pitch axis flipping. You must be pushing forward or back 3° to make it flip in Pitch axis or it will flip in the default roll axis.
Added some extra throttle control to maintain altitude
removed the CH7 ability to exit Flip mode. It will exit only if completing flip or user aborts with control sticks.
the EKF check works reliably but attempts to check the inertial nav for
errors has not been successful. I could not find a way to reliably
catch flyaways without also introducing false positives (and thus
unwanted LANDings)
Randy Mackay
Craig Elder
Jason Short
Andrew Tridgell
Robert Lefebvre