waypoint command was setting auto_yaw_mode when it was run after the
do-cmd
yaw_look_at_heading was being set to current heading which was
overwriting the caller's desired heading
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this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type
This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:
a) launch will be into wind
b) wind speed is equal to global average
It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
Kevin Hester
Randy Mackay
Andrew Tridgell
Paul Riseborough
jschall
L. Preston Sego III
Emile Castelnuovo