Reset_hold_I no longer clears throttle_I value for return to alt hold

Removed Baro Init in Auto Mode.
increased Rate Error limit on Alt Hold
Slightly decreased alt P to reduce pulsing motors
Added rate limit for nav so we can reduce initial pitch to target.
Using MINIMUM_THROTTLE value to test for Reseting Alt Hold now. 
Fixed extra Log formatting statement in CTUN.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3294 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/Attitude.pde

@@ -99,7 +99,7 @@ get_nav_throttle(long z_error, int target_speed)
 	target_speed 	= z_error * scaler;
 
 	rate_error 		= target_speed - altitude_rate;
-	rate_error 		= constrain(rate_error, -90, 90);
+	rate_error 		= constrain(rate_error, -110, 110);
 
 	throttle 		= g.pi_throttle.get_pi(rate_error, delta_ms_medium_loop);
 	return  		  g.throttle_cruise + rate_error;
@@ -151,9 +151,7 @@ static void reset_hold_I(void)
 {
 	g.pi_loiter_lat.reset_I();
 	g.pi_loiter_lat.reset_I();
-
 	g.pi_crosstrack.reset_I();
-	g.pi_throttle.reset_I();
 }
 
 // Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
@@ -174,7 +172,6 @@ throttle control
 static int get_throttle(int throttle_input)
 {
 	throttle_input = (float)throttle_input * angle_boost();
-	//throttle_input = max(throttle_slew, throttle_input);
 	return  max(throttle_input, 0);
 }
 
@@ -216,7 +213,7 @@ static int alt_hold_velocity()
 static float angle_boost()
 {
 	float temp = cos_pitch_x * cos_roll_x;
-	temp = 2.0 - constrain(temp, .5, 1.0);
+	temp = 2.0 - constrain(temp, .6, 1.0);
 	return temp;
 }
 

ArduCopterMega/Log.pde

@@ -656,7 +656,6 @@ static void Log_Read_Control_Tuning()
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 
-				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt());
 }
@@ -706,6 +705,7 @@ static void Log_Read_Performance()
 
 				DataFlash.ReadByte(),
 				DataFlash.ReadByte(),
+
 				DataFlash.ReadByte(),
 				DataFlash.ReadByte(),
 				DataFlash.ReadByte(),

ArduCopterMega/commands.pde

@@ -22,13 +22,6 @@ static void clear_command_queue(){
 
 static void init_auto()
 {
-	#if HIL_MODE != HIL_MODE_ATTITUDE
-		// read Baro pressure at ground -
-		// this resets Baro for more accuracy
-		//-----------------------------------
-		init_barometer();
-	#endif
-
 	//if (g.waypoint_index == g.waypoint_total) {
 	//	Serial.println("ia_f");
 	//	do_RTL();

ArduCopterMega/config.h

@@ -513,10 +513,10 @@
 // Throttle control gains
 //
 #ifndef THROTTLE_P
-# define THROTTLE_P		0.4		// trying a lower val
+# define THROTTLE_P		0.35		//
 #endif
 #ifndef THROTTLE_I
-# define THROTTLE_I		0.10		//with 4m error, 12.5s windup
+# define THROTTLE_I		0.10		// with 4m error, 12.5s windup
 #endif
 //#ifndef THROTTLE_D
 //# define THROTTLE_D		0.6			// upped with filter

ArduCopterMega/navigation.pde

@@ -104,6 +104,7 @@ static void calc_nav_rate(int x_error, int y_error, int max_speed, int min_speed
 	// calc the cos of the error to tell how fast we are moving towards the target in cm
 	y_actual_speed 	= (float)g_gps->ground_speed * cos(radians((float)g_gps->ground_course/100.0));
 	y_rate_error 	= y_target_speed - y_actual_speed; // 413
+	y_rate_error 	= constrain(y_rate_error, -250, 250);	// added a rate error limit to keep pitching down to a minimum
 	nav_lat		 	= constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
 
 	//Serial.printf("yr: %d, nav_lat: %d, int:%d \n",y_rate_error, nav_lat, g.pi_nav_lat.get_integrator());
@@ -111,6 +112,7 @@ static void calc_nav_rate(int x_error, int y_error, int max_speed, int min_speed
 	// calc the sin of the error to tell how fast we are moving laterally to the target in cm
 	x_actual_speed 	= (float)g_gps->ground_speed  * sin(radians((float)g_gps->ground_course/100.0));
 	x_rate_error 	= x_target_speed - x_actual_speed;
+	x_rate_error 	= constrain(x_rate_error, -250, 250);
 	nav_lon		 	= constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
 }
 

ArduCopterMega/system.pde

@@ -392,6 +392,7 @@ static void set_mode(byte mode)
 			yaw_mode 		= ALT_HOLD_YAW;
 			roll_pitch_mode = ALT_HOLD_RP;
 			throttle_mode 	= ALT_HOLD_THR;
+			reset_hold_I();
 
 			init_throttle_cruise();
 			next_WP.alt = current_loc.alt;
@@ -538,7 +539,7 @@ static void
 init_throttle_cruise()
 {
 	// are we moving from manual throttle to auto_throttle?
-	if((old_control_mode <= SIMPLE) && (g.rc_3.control_in > 150)){
+	if((old_control_mode <= SIMPLE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
 		g.pi_throttle.reset_I();
 		g.throttle_cruise.set_and_save(g.rc_3.control_in);
 	}