Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>

Auto Switchover algorithm with primary receiver switchback.
Force switchover channel moved to channel 9
Manual modifications.

Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.

Dual input PPM decoder rework
flags for frame and channel error control
decoder algorithm rework

Work in progress
adding a channel pre pulse lengt #define for each PPM mode
dual channels PPM input capture interrupt algorithm

ArduPlane: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery monitor

ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor

Also added some detail to WP_Speed_Max parameter.

Some rework and cleaning for #define stuff

Work in progress on a new Redundancy dual PPM sum mode for PPM encoder.

- New library PPM_Encoder_v3.h and new manual manual_v3.txt

- New format conversion capability between input and output PPM frame timings and channel count.

This will be experimental until heavily tested. The main goal is to allow the use of low cost satellite receivers in a high safety setup, and allow a new teacher / student RC mode without link between the two pilot transmitters.

Reduced parameter default value for TradHeli.

Small cleaning removing space in filename.

This is the Jeti Telemetry protocol. Common in Europe for RC multicopters telemetry through 2.4 Ghz Jeti Duplex links.

A small test

The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.

Updated after discussing with Marco

AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved

consider a non-zero altitude to mean that we should use the relative
altitude specified

sudden yaw changes can cause bad wind estimates

Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat

I'm not convinced I was able to make the timing test meaningful.
Someone should please lookinto this.

The AP_Semaphore* argument to the constructor can be null (and is by
default for compatibility). Semaphore is only used when non-null.

Semaphore can be null, handled correctly if it is. Rather than check for
which SPI bus the sensor is using, just check whether semaphore is not null
before using it. More general and flexible.