ArduPilot:master ← lthall:20190927_StandByMode
opened 02:10AM - 29 Sep 19 UTC
StandBy is the ability to have multiple flight controllers working together wher…e only one of these is the controller in command (CIC). The "ride along" controllers can experience significant I-term build up as they may have different attitude solution compared to the CIC. The secondary controllers may also be placed in a more basic mode. For example, during an auto mission the secondary flight controller may be held in Loiter.
The functionality in this PR is designed to be a minimum impact standby functionality for ArduCopter.
The requirements of this capability are:
- Remove I term build up
- Remove integrated build up sources
- Not trigger crash checks, parachute, or landing detectors.
- Ensure the aircraft will still fly effectively in Stabilize, Alt Hold, Loiter and continue to stabilize the aircraft in other modes. This is to ensure the aircraft will continue to be controllable in the event that a secondary flight controller is made CIC without disabling the Standby state.
This will be the first introductory implementation of this functionality to facilitate development in this area.