Eanbled crash/tubled detection. Closes #248

I the sitaw module the crash/tumbled detection was enabled in case the
kalman estimator is used. Currently it is automatically used for the
flow and the LPS decks. It checks if the attitude angle is above 60 deg
for a period of time. If so shuts of motors until it comes back below 60
deg again.

src/modules/interface/sitaw.h

@@ -42,7 +42,11 @@ void sitAwInit(void);
 void sitAwUpdateSetpoint(setpoint_t *setpoint, const sensorData_t *sensorData,
                                                const state_t *state);
 /* Enable the situation awareness framework. */
-//#define SITAW_ENABLED
+#define SITAW_ENABLED
+/* Enable the different functions of the situation awareness framework. */
+//#define SITAW_FF_ENABLED           /* Uncomment to enable */
+//#define SITAW_AR_ENABLED           /* Uncomment to enable */
+#define SITAW_TU_ENABLED           /* Uncomment to enable */
 
 /* Configuration options for the 'Free Fall' detection. */
 #define SITAW_FF_THRESHOLD 0.1     /* The default tolerance for AccWZ deviations from -1, indicating Free Fall. */

src/modules/src/sitaw.c

@@ -322,7 +322,13 @@ bool sitAwTuDetected(void)
  */
 void sitAwInit(void)
 {
+#ifdef SITAW_FF_ENABLED
   sitAwFFInit();
+#endif
+#ifdef SITAW_AR_ENABLED
   sitAwARInit();
+#endif
+#ifdef SITAW_TU_ENABLED
   sitAwTuInit();
+#endif
 }

src/modules/src/stabilizer.c

@@ -65,9 +65,10 @@ void stabilizerInit(StateEstimatorType estimator)
   stateEstimatorInit(estimator);
   stateControllerInit();
   powerDistributionInit();
-#if defined(SITAW_ENABLED)
-  sitAwInit();
-#endif
+  if (estimator == kalmanEstimator)
+  {
+    sitAwInit();
+  }
 
   xTaskCreate(stabilizerTask, STABILIZER_TASK_NAME,
               STABILIZER_TASK_STACKSIZE, NULL, STABILIZER_TASK_PRI, NULL);