this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.
This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
Our current documentation system only emits one XML document (apm.pdef.xml)
for ArduCopter.
Since there is a conflict between parameters in the MOT_ namespace in Copter,
we only emit the documentation for the first parameter defining the MOT_ namespace.
This patch removes the documentation lines for frame types other than multicopter, meaning the documentation will reflect mutlictopter usage - the most common case.
These lines will need to be reinstated when we change the way we produce the xml documentation.
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states
Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
Andrew Tridgell
Randy Mackay
chambana
Francisco Ferreira
Peter Barker
Daniel Ricketts
Leonard Hall
Jonathan Challinger
Lucas De Marchi
Don Gagne
Paul Riseborough