Copter: log event if pilot cancels land

Also add definition for throttle value that cancels land

ArduCopter/Copter.h

@@ -395,6 +395,7 @@ private:
     float baro_climbrate;        // barometer climbrate in cm/s
     LowPassFilterVector3f land_accel_ef_filter; // accelerations for land and crash detector tests
 
+    // filtered pilot's throttle input used to cancel landing if throttle held high
     LowPassFilterFloat rc_throttle_control_in_filter;
 
     // 3D Location vectors

ArduCopter/config.h

@@ -401,6 +401,9 @@
 #ifndef LAND_WITH_DELAY_MS
  # define LAND_WITH_DELAY_MS        4000    // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
 #endif
+#ifndef LAND_CANCEL_TRIGGER_THR
+ # define LAND_CANCEL_TRIGGER_THR   700     // land is cancelled by input throttle above 700
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Landing Detector

ArduCopter/control_auto.cpp

@@ -324,7 +324,8 @@ void Copter::auto_land_run()
 
     // process pilot's input
     if (!failsafe.radio) {
-        if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
+        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
+            Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(LOITER)) {
                 set_mode(ALT_HOLD);

ArduCopter/control_land.cpp

@@ -87,7 +87,8 @@ void Copter::land_gps_run()
 
     // process pilot inputs
     if (!failsafe.radio) {
-        if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
+        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
+            Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(LOITER)) {
                 set_mode(ALT_HOLD);
@@ -155,7 +156,8 @@ void Copter::land_nogps_run()
 
     // process pilot inputs
     if (!failsafe.radio) {
-        if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
+        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
+            Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(LOITER)) {
                 set_mode(ALT_HOLD);

ArduCopter/control_rtl.cpp

@@ -267,7 +267,8 @@ void Copter::rtl_descent_run()
 
     // process pilot's input
     if (!failsafe.radio) {
-        if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
+        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
+            Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(LOITER)) {
                 set_mode(ALT_HOLD);
@@ -362,7 +363,8 @@ void Copter::rtl_land_run()
 
     // process pilot's input
     if (!failsafe.radio) {
-        if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
+        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
+            Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(LOITER)) {
                 set_mode(ALT_HOLD);

ArduCopter/defines.h

@@ -333,6 +333,7 @@ enum FlipState {
 #define DATA_ROTOR_RUNUP_COMPLETE           58  // Heli only
 #define DATA_ROTOR_SPEED_BELOW_CRITICAL     59  // Heli only
 #define DATA_EKF_ALT_RESET                  60
+#define DATA_LAND_CANCELLED_BY_PILOT        61
 
 // Centi-degrees to radians
 #define DEGX100 5729.57795f