Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
this fixes the setting of the baudrate on a uBlox that is configured
for 9600. It fixes the NMEA message to have a \r\n, plus sends the
NAV_SOL rate config before the NMEA baudrate config message.
This fixes issue #159
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
I've refactored the param_parse tool to use various 'emitters'. An emitter
can take parameter info and output it in a particular format. Currently the
only supported emitters are the wiki and XML formats.
The goal of these changes is to create a standard machine readable description
of parameters - mainly for use by ground control stations, but it will also
enable spiffy scripting environments where code can refer symbolically to
vehicle parameters (reflectionish).
Open issue: Is there any sort of Ardupilot build id which can be included in
the generated XML? That would ensure that we select the correct paramdefs
for the load on the target (possibly by asking the target for a SHA or
somesuch). If that issue is resolved, then the filename for the XML
file should probably be something like:
arduplane-ca5742ac.pdef.xml.
It is worth noting that I've proposed a suffix of ".pdef.xml" for these file
types. This facilitates automated file handling on Android devices. On
Android you can register 'handlers' for particular file extensions and if
the user tries to open that extension in email or a web browser your app
will be given a chance to do something about it. The 'outer' xml extension
will allow naive editors to know that at least this is an xml file.
I will include a sample of the XML format with the pull-request for this CL.
Andrew Tridgell
Randy Mackay
Kevin Hester
John Arne Birkeland
Michael Warren
Stephen