Peter Barker

I've flown a real copter with blended a bunch now - even with different GPS types it copes. I've added an autotest that tests blended/affinity before and after. The logs...

Fixed the commit message.

@andyp1per where are you going with this one? What advantages were you seeing from being a camera backend? I'd note that the camera library, even in its most compact form...

I've rebased this. @rmackay9 were you happy with this apart from the test flapping?

Ping @dakejahl .... got some dataflash logs from a flying Copter?

Note that my autotest only reproduces the issue - I didn't point any fail condition in for the specific bug

I've reset this to Paul's branch and rebased this PR on master and removed the commit/revert pair. So some less-than-fortunate news. Somehow tridge's PR to use a better atmospheric model...

> The better atmospheric model changes how the offset between baro height and GPs height varies so it makes sense the autotest would be sensitive to this. I'm happy to...

Thanks @pavloblindnology - we've merged a fix for the bug you found.

Ping @rahulOCR - there are review comments in here which have not been acted upon.