added vtol fixed wing preflight check

[dlwalter]

Describe problem solved by the proposed pull request
Some VTOLs do not have the ground clearance to allow arming of the aircraft in fixed wing mode. This pull request creates a parameter COM_ARM_FW_VTOL that can be set to (1) allow arming in fixed wing mode or (2) not allow arming in fixed wing mode. It adds a preflight

Test data / coverage
Tests on Cube (FMUv3) and it correctly prevents arming in fixed wing mode when the parameter is set to 0.

Addresses the following issue:
#12931

[dagar]

Do we need to allow arming as FW at all? When landed you can always transition to FW immediately (bypassing transition logic).

[dagar]

Any opinion @RomanBapst or @sfuhrer?

[dlwalter]

@dagar I think unless you see a future implementation of a STOVL aircraft I don’t see the need.

We like having the full transition logic implemented during disarm as part of our pilot preflight check so we can confirm the functionality.

[dagar]

Then unless someone objects I'm in favor of implementing this without the circuit breaker.

[dlwalter]

Sounds good. I’ll make a new PR.

[sfuhrer]

Then unless someone objects I'm in favor of implementing this without the circuit breaker.

You mean without any parameter, just always disable arming in FW?
Sometimes while benchtesting it's useful to arm directly in FW, but I guess the benefit from being sure that it doesn't arm unintended. Even would be okay for me to do it without parameter.

Enabling STOVL or proper VTOLs with wheels to take off/land in FW would be cool for the future, one thing missing there now is the land detector to be running also in FW (see #12779). Till we have that disabling arming in FW is fine I'd say.

[dlwalter]

Updated and removed the circuit breaker

[rollysing]

If you want to default it to not allow to arm in FW is one thing; removing it completely is another.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[sfuhrer]

New PR: #13987. From my point of view we should not allow arming in fixed-wing.

[sfuhrer]

Close this as #13987 is merged.