See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
Calling update_simple_mode_bearing calls get-heading
rather than the other way around
This will have the advantage of not calculating home bearing
when we stop calling update_simple_mode_bearing unnecesarily
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.
This moves static variables into the autotune flightmode object.
It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
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.
Fixed#6324
Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
Andrew Tridgell
Peter Barker
Randy Mackay
khancyr
Dr.-Ing. Amilcar Do Carmo Lucas
ChrisBird