CASSv1.6.1-Copter-3.6.12

Released by the Center for Autonomous Sensing and Sampling (CASS) of the University of Oklahoma

Head of Project:
Phillip B. Chilson

Main developer:
Antonio R. Segales

Acknowledgement:
Gustavo Azevedo
Joshua Martin

==== Release notes ====
The following list shows code changes since the pre-release on 19-Jun-2020 (CASSv1.6.0-Copter-3.6.12)
Release Candidate: CASSv1.6.1-Copter-3.6.12

Wind vane mode algorithm:
- Create different trigger conditions for the ascent and the descent
- When coming in for landing, disable wind vane mode when close to the ground (less than 10m).
- Keep the heading fixed to the lastest wind direction estimate.

Battery Management for Vertical Profiling:
- Calculate the energy consumed in Watt-hour.
- Compute the temporal integration of the wind speed (works as a memory).
- Estimate the energy needed to descend per meter height (a function of wind speed).
- Estimate the total energy used (percentage).
- Always land with the desired reserve (parameter VPBATT_RES).
- Issue a warning once when the battery altitude range is over 85%.
- It will still warn, even if the function is disabled
- Trigger RTL when max battery altitude range is reached.

Auto Vertical Profile function:
- Auto-generate vertical waypoint mission at the flick of a switch.
- After acquiring the home position, the drone creates a vertical waypoint over the home position.
- The max altitude is set by the parameter AUTOVP_ALT.
- Easy to access and modify it through the Mission Planner parameter list.
- No need to manually create a mission on Mission Planner.
- After auto-generating the mission, it can be verified on Mission Planner.

Simulator:
- Fixed bug in the imet resistance model that was setting the temperature to zero (credits Joshua J. Martin).