Copter: add ADSB-out support for copter

ArduCopter/ArduCopter.cpp

@@ -127,7 +127,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
 #if ADSB_ENABLED == ENABLED
-    SCHED_TASK(adsb_update,            1,    100),
+    SCHED_TASK(adsb_update,           10,    100),
 #endif
 #if FRSKY_TELEM_ENABLED == ENABLED
     SCHED_TASK(frsky_telemetry_send,   5,     75),
@@ -501,6 +501,8 @@ void Copter::one_hz_loop()
 
     // log terrain data
     terrain_logging();
+
+    adsb.set_is_flying(!ap.land_complete);
 }
 
 // called at 50hz

ArduCopter/flight_mode.cpp

@@ -120,6 +120,8 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
         control_mode_reason = reason;
         DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
 
+        adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
+
 #if AC_FENCE == ENABLED
         // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
         // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)