Copter: add FLIGHT_OPTIONS param and options bits to disable thrust loss and yaw imbalance warnings

ArduCopter/Copter.h

@@ -608,6 +608,12 @@ private:
         RELEASE_GRIPPER                 = (1<<5),   // 32
     };
 
+
+    enum class FlightOptions {
+        DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
+        DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
+    };
+
     static constexpr int8_t _failsafe_priorities[] = {
                                                       Failsafe_Action_Terminate,
                                                       Failsafe_Action_Land,

ArduCopter/Parameters.cpp

@@ -1045,6 +1045,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_GROUPINFO("RTL_OPTIONS", 43, ParametersG2, rtl_options, 0),
 #endif
 
+    // @Param: FLIGHT_OPTIONS
+    // @DisplayName: Flight mode options
+    // @Description: Flight mode specific options
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning
+    // @User: Advanced
+    AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),
+
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -642,6 +642,8 @@ public:
     AP_Int32 rtl_options;
 #endif
 
+    AP_Int32 flight_options;
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/crash_check.cpp

@@ -98,6 +98,11 @@ void Copter::thrust_loss_check()
 {
     static uint16_t thrust_loss_counter;  // number of iterations vehicle may have been crashed
 
+    // no-op if suppresed by flight options param
+    if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_THRUST_LOSS_CHECK)) != 0) {
+        return;
+    }
+
     // exit immediately if thrust boost is already engaged
     if (motors->get_thrust_boost()) {
         return;
@@ -167,6 +172,11 @@ void Copter::thrust_loss_check()
 // check for a large yaw imbalance, could be due to badly calibrated ESC or misaligned motors
 void Copter::yaw_imbalance_check()
 {
+    // no-op if suppresed by flight options param
+    if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_YAW_IMBALANCE_WARNING)) != 0) {
+        return;
+    }
+
     // If I is disabled it is unlikely that the issue is not obvious
     if (!is_positive(attitude_control->get_rate_yaw_pid().kI())) {
         return;