Previously we always reset the altitude target to the current altitude but this causes a jump if the vehicle is already in an alt-hold flight mode but has an altitude error
Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller. In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
This is current in the Copter vehicle code but we can move to the dataflash library when other vehicles start using this type of sensor. Until then adding it to common will just increase the dependencies unnecessarily for other vehicles.
../../ArduCopter/GCS_Mavlink.cpp: In member function 'void Copter::send_extended_status1(mavlink_channel_t)':
../../ArduCopter/GCS_Mavlink.cpp:281:37: error: suggest parentheses around operand of '!' or change '&' to '&&' or '!' to '~' [-Werror=parentheses]
uint32_t sensors_error_flags = !control_sensors_health & control_sensors_enabled & control_sensors_present;
^
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors
Thanks to Ralph Campbell <ralphcampbell1@gmail.com> for the bug report.
this is for little used options to allow standard firmware builds to
enable those options for development purposes
First option is for MAVLink based ADSB avoidance
Previously a single moment where the vehicle was within 30deg of the target could cause the parachute release counter to reset to zero. This change makes the parachute release if it is spending at least half it's time with more than a 30degree angle error.
Randy Mackay
Leonard Hall
murata
Jonathan Challinger
Andrew Tridgell
Michael du Breuil
Lucas De Marchi
Pierre Kancir
Tom Pittenger
Peter Barker
floaledm
John deVere