Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude
thanks to discussions with Leonard and Randy
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.
Previously we had _smooth and non-smooth methods in the attitude
controller but as part of the move to quaternions these have been replaced
by a single call which always takes a smoothing gain
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
The throttle_mid parameter (for historic reason) is interpreted as a value that includes throttle_min. This means we must subtract the throttle_min value from it when converting it to a throttle in the 0 to 1 range.
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
Leonard Hall
Ebin
Andrew Tridgell
Randy Mackay
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
ChrisBird
Mathieu OTHACEHE
dgrat
Jonathan Challinger