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Commits on May 13, 2016

• Compile and upload - solo-2.0.20

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• Merge remote-tracking branch 'refs/remotes/3drobotics/master'

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Commits on May 11, 2016

• Copter: remove arming check intended for EKF2

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Commits on May 10, 2016

• AP_NavEKF: change minimum HDOP to 1.7

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• Copter: remove HDOP check

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• defaults.parm: set EKF_CHECK_SCALE to 150

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• AP_NavEKF: add CHECK_SCALE

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• defaults.parm: revert to EKF1

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• Compass: new consistency check logic

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• Revert "Copter: decouple compass consistency check"

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• Copter: move Arm: Leaning above GPS checks

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Commits on Apr 18, 2016

• mk: change solo upload method

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• Copter: loosen accelerometer consistency check on Z axis

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Commits on Apr 14, 2016

• Copter: GPS glitch failsafe does not terminate until position is ok

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• AP_NavEKF2: don't report GPS glitching while not using GPS

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Commits on Apr 13, 2016

• defaults.parm: set GPS_SAVE_CFG

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Commits on Apr 5, 2016

• Copter: add check for EKF horizontal innovations

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• AP_AHRS_NavEKF: add getPosVelInnovations

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• defaults.parm: reduce GPS delay

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• Copter: modify safety switch prearm

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• AP_BoardConfig: add get_safety_enable

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• AP_Mount: prevent SoloGimbalEKF fusing velocities while disarmed

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• Copter: modify compass variance check

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• Copter: change message for magnetometer innovation too high

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• defaults.parm: remove EK2_ALT_NOISE

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• Copter: decouple compass consistency check

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• build: configure AP_MOTORS_SLEW_LIMIT

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• AP_Motors: add compile-time option for slew limit

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• AP_InertialSensor: calibrate gyro during accel calibration

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• AP_AccelCal: add _acal_event_start

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• AP_InertialSensor: change wait_for_sample logic

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• AP_Compass: correct failure logic

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• AP_Mount: correct solo gimbal mode logic

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• AP_InertialSensor: require reboot on accel cal success, not on calibration save

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• AP_InertialSensor: set scale to 1 instead of 0 on cal failure

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