Added break feature on yaw control. Please verify it works properly before flying.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1752 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/Attitude.pde

@@ -149,13 +149,18 @@ output_yaw_with_hold(boolean hold)
 		long error		= ((long)g.rc_4.control_in * 6) - rate;									// control is += 6000 * 6 = 36000
 																							// -error = CCW, 	+error = CW
 
-		if(g.rc_4.control_in == 0)
+		if(g.rc_4.control_in == 0){
-			g.rc_4.servo_out 	= g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 3.0);// kP .07 * 36000 = 2520
+
-		else
+			// we are breaking;
-			g.rc_4.servo_out 	= g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);// kP .07 * 36000 = 2520
+			g.rc_4.servo_out = (omega.z > 0) ? -1800 : 1800;
+
+		}else{
+				g.rc_4.servo_out 	= g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);// kP .07 * 36000 = 2520
+		}
 
 		g.rc_4.servo_out 	= constrain(g.rc_4.servo_out, -2400, 2400);						// limit to 24°
 	}
+
 }
 
 // slight left rudder give right roll.

ArduCopterMega/commands_logic.pde

@@ -75,7 +75,9 @@ handle_process_now()
 void
 handle_no_commands()
 {
-	if (command_must_ID) return;
+	if (command_must_ID)
+		return;
+
 	switch (control_mode){
 		case LAND:
 			// don't get a new command
@@ -85,7 +87,6 @@ handle_no_commands()
 		//	set_mode(LOITER);
 
 		default:
-			if()
 			set_mode(RTL);
 			//next_command = get_LOITER_home_wp();
 			//SendDebug("MSG <load_next_command> Preload RTL cmd id: ");