Copter: init vert speed and accel for each flight mode

This resolves issue #1021 in which LAND mode could descend at the
PILOT_VELZ rate instead of the WPNAV_SPEED_DN

Pilot defined acceleration is used for AltHold, AutoTune , Circle,
Hybrid, Loiter, OF_Loiter and Sport flight modes
Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL

ArduCopter/control_althold.pde

@@ -12,6 +12,7 @@ static bool althold_init(bool ignore_checks)
 
     // initialize vertical speeds and leash lengths
     pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+    pos_control.set_accel_z(g.pilot_accel_z);
 
     return true;
 }

ArduCopter/control_autotune.pde

@@ -194,6 +194,11 @@ static bool autotune_init(bool ignore_checks)
 
     // initialise altitude target to stopping point
     pos_control.set_target_to_stopping_point_z();
+
+    // initialize vertical speeds and leash lengths
+    pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+    pos_control.set_accel_z(g.pilot_accel_z);
+
     return true;
 }
 

ArduCopter/control_circle.pde

@@ -10,6 +10,11 @@ static bool circle_init(bool ignore_checks)
     if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) {
         circle_pilot_yaw_override = false;
         circle_nav.init();
+
+        // initialize vertical speeds and leash lengths
+        pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+        pos_control.set_accel_z(g.pilot_accel_z);
+
         return true;
     }else{
         return false;

ArduCopter/control_hybrid.pde

@@ -106,6 +106,7 @@ static bool hybrid_init(bool ignore_checks)
     
     // initialize vertical speeds and leash lengths
     pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+    pos_control.set_accel_z(g.pilot_accel_z);
 
     // initialise lean angles to current attitude
     hybrid.pilot_roll = 0;

ArduCopter/control_land.pde

@@ -18,6 +18,10 @@ static bool land_init(bool ignore_checks)
 
     // initialise altitude target to stopping point
     pos_control.set_target_to_stopping_point_z();
+
+    // initialize vertical speeds and leash lengths
+    pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
+    pos_control.set_accel_z(wp_nav.get_accel_z());
     return true;
 }
 

ArduCopter/control_loiter.pde

@@ -12,8 +12,9 @@ static bool loiter_init(bool ignore_checks)
         // set target to current position
         wp_nav.init_loiter_target();
 
-        // initialize vertical speeds
+        // initialize vertical speed and accelerationj
         pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+        pos_control.set_accel_z(g.pilot_accel_z);
 
         // initialise altitude target to stopping point
         pos_control.set_target_to_stopping_point_z();

ArduCopter/control_ofloiter.pde

@@ -9,6 +9,13 @@ static bool ofloiter_init(bool ignore_checks)
 {
 #if OPTFLOW == ENABLED
     if (g.optflow_enabled || ignore_checks) {
+        // initialise altitude target to stopping point
+        pos_control.set_target_to_stopping_point_z();
+
+        // initialize vertical speed and acceleration
+        pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+        pos_control.set_accel_z(g.pilot_accel_z);
+
         return true;
     }else{
         return false;

ArduCopter/control_sport.pde

@@ -7,6 +7,13 @@
 // sport_init - initialise sport controller
 static bool sport_init(bool ignore_checks)
 {
+    // initialize vertical speed and accelerationj
+    pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+    pos_control.set_accel_z(g.pilot_accel_z);
+
+    // initialise altitude target to stopping point
+    pos_control.set_target_to_stopping_point_z();
+
     return true;
 }