This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.
This was done mechanically for the most part.
I've had to remove the convenience reference for ap as part of this.
bnsgeyer and rmackay9 contributed to these changes
make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation
Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
Randy Mackay
Peter Barker
Dr.-Ing. Amilcar do Carmo Lucas
Pierre Kancir
bnsgeyer
Leonard Hall
murata
Michael du Breuil
liang.tang
Andrew Tridgell
Sharvashish Das
ChrisBird