Manual emergency landing FW and MR

[breadoven]

Closes #5000.

Allows an emergency landing to be triggered manually as required.
Landing started or ended by rapid toggling of Poshold mode, at least 5 times at a minimum rate of 1Hz.
Emergency landing position hold added which will work for all emergency landings regardless of cause so long as a valid position is available.
Failsafe inhibited during manual emergency landing to allow landing to continue if Failsafe triggered whilst active.

HITL tested on fixed wing OK. Still needs testing on multirotor.

[breadoven]

Now tested on multirotor and it behaved as expected ... landed and disarmed. Multi switching of PosHold to trigger the landing doesn't do anything obviously undesirable. So this should be good to merge if considered a worthwhile addition.

[DzikuVx]

@breadoven code from you is always a worthy addition! Happy to merge

[breadoven]

@breadoven code from you is always a worthy addition! Happy to merge

I guess with features like this, that probably won't be used much, it's always a question of is it worth the increase in firmware size. Some boards don't seem to have much space left, e.g. HGLRCF722 is now up to 95%. Although half the flash memory on that board seems to be unused, ITCM_FLASH1 ?

[DzikuVx]

Flash is to be used 🤣 if it runs out we will disable something less important. On the topic of itcm_flash @Ernis do you think we can easily move done code to itcm flash? We use itcm ram byncopying flash to it. But no sure about how complex the bootloader changes would be Paweł Spychalski

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________________________________ From: breadoven ***@***.***> Sent: Saturday, January 28, 2023 11:36:24 AM To: iNavFlight/inav ***@***.***> Cc: Paweł Spychalski ***@***.***>; State change ***@***.***> Subject: Re: [iNavFlight/inav] Manual emergency landing FW and MR (PR #8686) @breadoven<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fbreadoven&data=05%7C01%7C%7Cc45ef71241fb46826e6b08db011b8106%7C84df9e7fe9f640afb435aaaaaaaaaaaa%7C1%7C0%7C638104989864440923%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=CFRCW8xNtlLM9hI7Uw4Tzz7bz1E2iUwp%2FaxiRqc5Q6w%3D&reserved=0> code from you is always a worthy addition! Happy to merge I guess with features like this, that probably won't be used much, it's always a question of is it worth the increase in firmware size. Some boards don't seem to have much space left, e.g. HGLRCF722 is now up to 95%. Although half the flash memory on that board seems to be unused, ITCM_FLASH1 ? — Reply to this email directly, view it on GitHub<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiNavFlight%2Finav%2Fpull%2F8686%23issuecomment-1407369765&data=05%7C01%7C%7Cc45ef71241fb46826e6b08db011b8106%7C84df9e7fe9f640afb435aaaaaaaaaaaa%7C1%7C0%7C638104989864440923%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=4U%2F7C1oaS8M8u21m15UExTOIGYG7HcqFL35LDWVhtUw%3D&reserved=0>, or unsubscribe<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAAHMBG2R6REVCSGBQLSE4J3WUTZCRANCNFSM6AAAAAATSLGULY&data=05%7C01%7C%7Cc45ef71241fb46826e6b08db011b8106%7C84df9e7fe9f640afb435aaaaaaaaaaaa%7C1%7C0%7C638104989864440923%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=BzGsAe0C2nEv1IQRdpTWvOezbMKrsNZsHNyd2x6%2Bhuo%3D&reserved=0>. You are receiving this because you modified the open/close state.Message ID: ***@***.***>