ardupilot/ArduCopter/ArduCopter.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#define THISFIRMWARE "ArduCopter V2.7.3"
/*
 *  ArduCopter Version 2.7.3
 *  Lead author:	Jason Short
 *  Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni
 *  Thanks to:	Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini
 *
 *  This firmware is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  Special Thanks for Contributors:
 *
 *  Hein Hollander      :Octo Support
 *  Dani Saez           :V Ocoto Support
 *  Max Levine			:Tri Support, Graphics
 *  Jose Julio			:Stabilization Control laws
 *  Randy MacKay		:Heli Support
 *  Jani Hiriven		:Testing feedback
 *  Andrew Tridgell		:Mavlink Support
 *  James Goppert		:Mavlink Support
 *  Doug Weibel			:Libraries
 *  Mike Smith			:Libraries, Coding support
 *  HappyKillmore		:Mavlink GCS
 *  Michael Oborne		:Mavlink GCS
 *  Jack Dunkle			:Alpha testing
 *  Christof Schmid		:Alpha testing
 *  Oliver				:Piezo support
 *  Guntars				:Arming safety suggestion
 *  Igor van Airde      :Control Law optimization
 *  Jean-Louis Naudin   :Auto Landing
 *  Sandro Benigno      :Camera support
 *  Olivier Adler       :PPM Encoder
 *  John Arne Birkeland	:PPM Encoder
 *  Adam M Rivera		:Auto Compass Declination
 *  Marco Robustini		:Alpha testing
 *  Angel Fernandez		:Alpha testing
 *  Robert Lefebvre		:Heli Support & LEDs
 *  Amilcar Lucas		:mount and camera configuration
 *  Gregory Fletcher	:mount orientation math
 *
 *  And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
 *
 *  Requires modified "mrelax" version of Arduino, which can be found here:
 *  http://code.google.com/p/ardupilot-mega/downloads/list
 *
 */

////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////

// AVR runtime
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <math.h>

// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h>         // ArduPilot Mega RC Library
#include <AP_GPS.h>         // ArduPilot GPS library
#include <I2C.h>                        // Arduino I2C lib
#include <SPI.h>                        // Arduino SPI lib
#include <DataFlash.h>      // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h>
#include <AP_Baro.h>
#include <AP_Compass.h>     // ArduPilot Mega Magnetometer Library
#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_IMU.h>         // ArduPilot Mega IMU Library
#include <AP_PeriodicProcess.h>         // Parent header of Timer
                                        // (only included for makefile libpath to work)
#include <AP_TimerProcess.h>            // TimerProcess is the scheduler for MPU6000 reads.
#include <AP_AHRS.h>
#include <APM_PI.h>             // PI library
#include <AC_PID.h>            // PID library
#include <RC_Channel.h>     // RC Channel Library
#include <AP_Motors.h>          // AP Motors library
#include <AP_MotorsQuad.h>      // AP Motors library for Quad
#include <AP_MotorsTri.h>       // AP Motors library for Tri
#include <AP_MotorsHexa.h>      // AP Motors library for Hexa
#include <AP_MotorsY6.h>        // AP Motors library for Y6
#include <AP_MotorsOcta.h>      // AP Motors library for Octa
#include <AP_MotorsOctaQuad.h>  // AP Motors library for OctaQuad
#include <AP_MotorsHeli.h>      // AP Motors library for Heli
#include <AP_MotorsMatrix.h>    // AP Motors library for Heli
#include <AP_RangeFinder.h>     // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h>                     // Filter library
#include <ModeFilter.h>         // Mode Filter from Filter library
#include <AverageFilter.h>      // Mode Filter from Filter library
#include <AP_LeadFilter.h>      // GPS Lead filter
#include <AP_Relay.h>           // APM relay
#include <AP_Camera.h>          // Photo or video camera
#include <AP_Mount.h>           // Camera/Antenna mount
#include <AP_Airspeed.h>    // needed for AHRS build
#include <memcheck.h>

// Configuration
#include "defines.h"
#include "config.h"
#include "config_channels.h"

#include <GCS_MAVLink.h>    // MAVLink GCS definitions

// Local modules
#include "Parameters.h"
#include "GCS.h"

#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library

// Limits library - Puts limits on the vehicle, and takes recovery actions
#include <AP_Limits.h>
#include <AP_Limit_GPSLock.h> // a limits library module
#include <AP_Limit_Geofence.h> // a limits library module
#include <AP_Limit_Altitude.h> // a limits library module


////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial);        // FTDI/console
FastSerialPort1(Serial1);       // GPS port
FastSerialPort3(Serial3);       // Telemetry port

// this sets up the parameter table, and sets the default values. This
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, WP_START_BYTE);

Arduino_Mega_ISR_Registry isr_registry;

////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;


////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);

////////////////////////////////////////////////////////////////////////////////
// RC Hardware
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif

////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
DataFlash_APM2 DataFlash;
#else
DataFlash_APM1 DataFlash;
#endif


////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
//
// There are three basic options related to flight sensor selection.
//
// - Normal flight mode.  Real sensors are used.
// - HIL Attitude mode.  Most sensors are disabled, as the HIL
//   protocol supplies attitude information directly.
// - HIL Sensors mode.  Synthetic sensors are configured that
//   supply data from the simulation.
//

// All GPS access should be through this pointer.
static GPS         *g_gps;

// flight modes convenience array
static AP_Int8                *flight_modes = &g.flight_mode1;

#if HIL_MODE == HIL_MODE_DISABLED

// real sensors
 #if CONFIG_ADC == ENABLED
AP_ADC_ADS7844 adc;
 #endif

 #ifdef DESKTOP_BUILD
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
  #include <SITL.h>
SITL sitl;
 #else

  #if CONFIG_BARO == AP_BARO_BMP085
   # if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_Baro_BMP085 barometer(true);
   # else
AP_Baro_BMP085 barometer(false);
   # endif
  #elif CONFIG_BARO == AP_BARO_MS5611
AP_Baro_MS5611 barometer;
  #endif

AP_Compass_HMC5843 compass;
 #endif

 #ifdef OPTFLOW_ENABLED
  #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_OpticalFlow_ADNS3080_APM2 optflow(OPTFLOW_CS_PIN);
  #else
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
  #endif
 #else
AP_OpticalFlow optflow;
 #endif

// real GPS selection
 #if   GPS_PROTOCOL == GPS_PROTOCOL_AUTO
AP_GPS_Auto     g_gps_driver(&Serial1, &g_gps);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
AP_GPS_NMEA     g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
AP_GPS_SIRF     g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
AP_GPS_UBLOX    g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
AP_GPS_MTK      g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
AP_GPS_MTK16    g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_None     g_gps_driver(NULL);

 #else
  #error Unrecognised GPS_PROTOCOL setting.
 #endif // GPS PROTOCOL

 #if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
 #else
AP_InertialSensor_Oilpan ins(&adc);
 #endif
AP_IMU_INS  imu(&ins);

// we don't want to use gps for yaw correction on ArduCopter, so pass
// a NULL GPS object pointer
static GPS         *g_gps_null;

 #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_AHRS_MPU6000  ahrs(&imu, g_gps, &ins);               // only works with APM2
 #else
AP_AHRS_DCM ahrs(&imu, g_gps);
 #endif

AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators
AP_ADC_HIL adc;
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
AP_GPS_HIL              g_gps_driver(NULL);
AP_IMU_Shim imu;
AP_AHRS_DCM                         ahrs(&imu, g_gps);
AP_PeriodicProcessStub timer_scheduler;
AP_InertialSensor_Stub ins;

static int32_t gps_base_alt;

#elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc;
AP_IMU_Shim imu;                     // never used
AP_AHRS_HIL             ahrs(&imu, g_gps);
AP_GPS_HIL              g_gps_driver(NULL);
AP_Compass_HIL compass;                  // never used
AP_Baro_BMP085_HIL barometer;
AP_InertialSensor_Stub ins;
AP_PeriodicProcessStub timer_scheduler;
 #ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
 #endif
 #ifdef DESKTOP_BUILD
  #include <SITL.h>
SITL sitl;
 #endif
static int32_t gps_base_alt;
#else
 #error Unrecognised HIL_MODE setting.
#endif // HIL MODE



////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
GCS_MAVLINK gcs0;
GCS_MAVLINK gcs3;

////////////////////////////////////////////////////////////////////////////////
// SONAR selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_SONAR == ENABLED
 #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
 #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
 #endif
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
#endif

// agmatthews USERHOOKS
////////////////////////////////////////////////////////////////////////////////
// User variables
////////////////////////////////////////////////////////////////////////////////
#ifdef USERHOOK_VARIABLES
 #include USERHOOK_VARIABLES
#endif

////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////

static const char* flight_mode_strings[] = {
    "STABILIZE",        // 0
    "ACRO",                     // 1
    "ALT_HOLD",                 // 2
    "AUTO",                     // 3
    "GUIDED",                   // 4
    "LOITER",                   // 5
    "RTL",                      // 6
    "CIRCLE",                   // 7
    "POSITION",                 // 8
    "LAND",                     // 9
    "OF_LOITER",        // 10
    "TOY_M",                    // 11
    "TOY_A"
};                              // 12	THOR Added for additional Fligt mode

/* Radio values
 *               Channel assignments
 *                       1	Ailerons (rudder if no ailerons)
 *                       2	Elevator
 *                       3	Throttle
 *                       4	Rudder (if we have ailerons)
 *                       5	Mode - 3 position switch
 *                       6  User assignable
 *                       7	trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
 *                       8	TBD
 *               Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
 *               See libraries/RC_Channel/RC_Channel_aux.h for more information
 */

//Documentation of GLobals:

////////////////////////////////////////////////////////////////////////////////
// The GPS based velocity calculated by offsetting the Latitude and Longitude
// updated after GPS read - 5-10hz
static int16_t x_actual_speed;
static int16_t y_actual_speed;


// The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz
static int16_t x_rate_error;
static int16_t y_rate_error;

////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
// This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO,
static int8_t control_mode            = STABILIZE;
// This is the state of simple mode.
// Set in the control_mode.pde file when the control switch is read
static bool do_simple                       = false;
// Used to maintain the state of the previous control switch position
// This is set to -1 when we need to re-read the switch
static byte oldSwitchPosition;


////////////////////////////////////////////////////////////////////////////////
// Motor Output
////////////////////////////////////////////////////////////////////////////////
// This is the array of PWM values being sent to the motors
//static int16_t  motor_out[11];
// This is the array of PWM values being sent to the motors that has been lightly filtered with a simple LPF
// This was added to try and deal with biger motors
//static int16_t  motor_filtered[11];

#if FRAME_CONFIG ==     QUAD_FRAME
 #define MOTOR_CLASS AP_MotorsQuad
#endif
#if FRAME_CONFIG ==     TRI_FRAME
 #define MOTOR_CLASS AP_MotorsTri
#endif
#if FRAME_CONFIG ==     HEXA_FRAME
 #define MOTOR_CLASS AP_MotorsHexa
#endif
#if FRAME_CONFIG ==     Y6_FRAME
 #define MOTOR_CLASS AP_MotorsY6
#endif
#if FRAME_CONFIG ==     OCTA_FRAME
 #define MOTOR_CLASS AP_MotorsOcta
#endif
#if FRAME_CONFIG ==     OCTA_QUAD_FRAME
 #define MOTOR_CLASS AP_MotorsOctaQuad
#endif
#if FRAME_CONFIG ==     HELI_FRAME
 #define MOTOR_CLASS AP_MotorsHeli
#endif

#if FRAME_CONFIG ==     HELI_FRAME  // helicopter constructor requires more arguments
 #if INSTANT_PWM == 1
MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4, AP_MOTORS_SPEED_INSTANT_PWM);                   // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
 #else
MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
 #endif
#elif FRAME_CONFIG == TRI_FRAME  // tri constructor requires additional rc_7 argument to allow tail servo reversing
 #if INSTANT_PWM == 1
MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, AP_MOTORS_SPEED_INSTANT_PWM);                   // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
 #else
MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
 #endif
#else
 #if INSTANT_PWM == 1
MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, AP_MOTORS_SPEED_INSTANT_PWM);                   // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
 #else
MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
 #endif
#endif

////////////////////////////////////////////////////////////////////////////////
// Mavlink/HIL control
////////////////////////////////////////////////////////////////////////////////
// Used to track the GCS based control input
// Allow override of RC channel values for HIL
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
// Status flag that tracks whether we are under GCS control
static bool rc_override_active = false;
// Status flag that tracks whether we are under GCS control
static uint32_t rc_override_fs_timer;

////////////////////////////////////////////////////////////////////////////////
// Failsafe
////////////////////////////////////////////////////////////////////////////////
// A status flag for the failsafe state
// did our throttle dip below the failsafe value?
static boolean failsafe;

////////////////////////////////////////////////////////////////////////////////
// PIDs
////////////////////////////////////////////////////////////////////////////////
// This is a convienience accessor for the IMU roll rates. It's currently the raw IMU rates
// and not the adjusted omega rates, but the name is stuck
static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
// This will keep track of the percent of roll or pitch the user is applying
float roll_scale_d, pitch_scale_d;

////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// status of LED based on the motor_armed variable
// Flashing indicates we are not armed
// Solid indicates Armed state
static boolean motor_light;
// Flashing indicates we are reading the GPS Strings
// Solid indicates we have full 3D lock and can navigate
static boolean GPS_light;
// This is current status for the LED lights state machine
// setting this value changes the output of the LEDs
static byte led_mode = NORMAL_LEDS;
// Blinking indicates GPS status
static byte copter_leds_GPS_blink = 0;
// Blinking indicates battery status
static byte copter_leds_motor_blink = 0;
// Navigation confirmation blinks
static int8_t copter_leds_nav_blink = 0;

////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
// This is used to scale GPS values for EEPROM storage
// 10^7 times Decimal GPS means 1 == 1cm
// This approximation makes calculations integer and it's easy to read
static const float t7                        = 10000000.0;
// We use atan2 and other trig techniques to calaculate angles
// We need to scale the longitude up to make these calcs work
// to account for decreasing distance between lines of longitude away from the equator
static float scaleLongUp                     = 1;
// Sometimes we need to remove the scaling for distance calcs
static float scaleLongDown           = 1;


////////////////////////////////////////////////////////////////////////////////
// Mavlink specific
////////////////////////////////////////////////////////////////////////////////
// Used by Mavlink for unknow reasons
static const float radius_of_earth      = 6378100;              // meters
// Used by Mavlink for unknow reasons
static const float gravity                      = 9.81;                 // meters/ sec^2

// Unions for getting byte values
union float_int {
    int32_t int_value;
    float float_value;
} float_int;


////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// Status flag indicating we have data that can be used to navigate
// Set by a GPS read with 3D fix, or an optical flow read
static bool nav_ok;
// This is the angle from the copter to the "next_WP" location in degrees * 100
static int32_t target_bearing;
// Status of the Waypoint tracking mode. Options include:
// NO_NAV_MODE, WP_MODE, LOITER_MODE, CIRCLE_MODE
static byte wp_control;
// Register containing the index of the current navigation command in the mission script
static int16_t command_nav_index;
// Register containing the index of the previous navigation command in the mission script
// Used to manage the execution of conditional commands
static uint8_t prev_nav_index;
// Register containing the index of the current conditional command in the mission script
static uint8_t command_cond_index;
// Used to track the required WP navigation information
// options include
// NAV_ALTITUDE - have we reached the desired altitude?
// NAV_LOCATION - have we reached the desired location?
// NAV_DELAY    - have we waited at the waypoint the desired time?
static uint8_t wp_verify_byte;                                                  // used for tracking state of navigating waypoints
// used to limit the speed ramp up of WP navigation
// Acceleration is limited to .5m/s/s
static int16_t waypoint_speed_gov;
// Used to track how many cm we are from the "next_WP" location
static int32_t long_error, lat_error;
// Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s
static boolean loiter_override;
static int16_t waypoint_radius;

static int16_t control_roll;
static int16_t control_pitch;

////////////////////////////////////////////////////////////////////////////////
// Orientation
////////////////////////////////////////////////////////////////////////////////
// Convienience accessors for commonly used trig functions. These values are generated
// by the DCM through a few simple equations. They are used throughout the code where cos and sin
// would normally be used.
// The cos values are defaulted to 1 to get a decent initial value for a level state
static float cos_roll_x         = 1;
static float cos_pitch_x        = 1;
static float cos_yaw_x          = 1;
static float sin_yaw_y;

////////////////////////////////////////////////////////////////////////////////
// SIMPLE Mode
////////////////////////////////////////////////////////////////////////////////
// Used to track the orientation of the copter for Simple mode. This value is reset at each arming
// or in SuperSimple mode when the copter leaves a 20m radius from home.
static int32_t initial_simple_bearing;

////////////////////////////////////////////////////////////////////////////////
// ACRO Mode
////////////////////////////////////////////////////////////////////////////////
// Used to control Axis lock
int32_t roll_axis;
int32_t pitch_axis;

// Filters
AP_LeadFilter xLeadFilter;      // Long GPS lag filter
AP_LeadFilter yLeadFilter;      // Lat  GPS lag filter

AverageFilterInt32_Size3 roll_rate_d_filter;    // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter;   // filtered pitch acceleration

// Barometer filter
AverageFilterInt32_Size5 baro_filter;   // filtered pitch acceleration

////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control
////////////////////////////////////////////////////////////////////////////////
// used to determin the desired location in Circle mode
// increments at circle_rate / second
static float circle_angle;
// used to control the speed of Circle mode
// units are in radians, default is 5° per second
static const float circle_rate = 0.0872664625;
// used to track the delat in Circle Mode
static int32_t old_target_bearing;
// deg : how many times to circle * 360 for Loiter/Circle Mission command
static int16_t loiter_total;
// deg : how far we have turned around a waypoint
static int16_t loiter_sum;
// How long we should stay in Loiter Mode for mission scripting
static uint16_t loiter_time_max;
// How long have we been loitering - The start time in millis
static uint32_t loiter_time;
// The synthetic location created to make the copter do circles around a WP
static struct   Location circle_WP;


////////////////////////////////////////////////////////////////////////////////
// CH7 control
////////////////////////////////////////////////////////////////////////////////
// Used to enable Jose's flip code
// when true the Roll/Pitch/Throttle control is sent to the flip state machine
static bool do_flip = false;
// Used to track the CH7 toggle state.
// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
// Allows advanced functionality to know when to execute
static boolean CH7_flag;
// This register tracks the current Mission Command index when writing
// a mission using CH7 in flight
static int8_t CH7_wp_index;


////////////////////////////////////////////////////////////////////////////////
// Battery Sensors
////////////////////////////////////////////////////////////////////////////////
// Battery Voltage of battery, initialized above threshold for filter
static float battery_voltage1                = LOW_VOLTAGE * 1.05;
// refers to the instant amp draw – based on an Attopilot Current sensor
static float current_amps1;
// refers to the total amps drawn – based on an Attopilot Current sensor
static float current_total1;
// Used to track if the battery is low - LED output flashes when the batt is low
static bool low_batt = false;


////////////////////////////////////////////////////////////////////////////////
// Altitude
////////////////////////////////////////////////////////////////////////////////
// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
static int32_t altitude_error;
// The cm/s we are moving up or down based on sensor data - Positive = UP
static int16_t climb_rate_actual;
// Used to dither our climb_rate over 50hz
static int16_t climb_rate_error;
// The cm/s we are moving up or down based on filtered data - Positive = UP
static int16_t climb_rate;
// The altitude as reported by Sonar in cm – Values are 20 to 700 generally.
static int16_t sonar_alt;
// The climb_rate as reported by sonar in cm/s
static int16_t sonar_rate;
// The altitude as reported by Baro in cm – Values can be quite high
static int32_t baro_alt;
// The climb_rate as reported by Baro in cm/s
static int16_t baro_rate;
// used to switch out of Manual Boost
static uint8_t reset_throttle_counter;
// used to track when to read sensors vs estimate alt
static boolean alt_sensor_flag;
static int16_t saved_toy_throttle;


////////////////////////////////////////////////////////////////////////////////
// flight modes
////////////////////////////////////////////////////////////////////////////////
// Flight modes are combinations of Roll/Pitch, Yaw and Throttle control modes
// Each Flight mode is a unique combination of these modes
//
// The current desired control scheme for Yaw
static byte yaw_mode;
// The current desired control scheme for roll and pitch / navigation
static byte roll_pitch_mode;
// The current desired control scheme for altitude hold
static byte throttle_mode;


////////////////////////////////////////////////////////////////////////////////
// flight specific
////////////////////////////////////////////////////////////////////////////////
// Flag for monitoring the status of flight
// We must be in the air with throttle for 5 seconds before this flag is true
// This flag is reset when we are in a manual throttle mode with 0 throttle or disarmed
static boolean takeoff_complete;
// Used to see if we have landed and if we should shut our engines - not fully implemented
static boolean land_complete = true;
// An additional throttle added to keep the copter at the same altitude when banking
static int16_t angle_boost;
// Push copter down for clean landing
static int16_t landing_boost;
// for controlling the landing throttle curve
//verifies landings
static int16_t ground_detector;
// have we reached our desired altitude brefore heading home?
static bool rtl_reached_alt;


////////////////////////////////////////////////////////////////////////////////
// Navigation general
////////////////////////////////////////////////////////////////////////////////
// The location of the copter in relation to home, updated every GPS read
static int32_t home_to_copter_bearing;
// distance between plane and home in cm
static int32_t home_distance;
// distance between plane and next_WP in cm
// is not static because AP_Camera uses it
int32_t wp_distance;

////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
////////////////////////////////////////////////////////////////////////////////
// home location is stored when we have a good GPS lock and arm the copter
// Can be reset each the copter is re-armed
static struct   Location home;
// Flag for if we have g_gps lock and have set the home location
static boolean home_is_set;
// Current location of the copter
static struct   Location current_loc;
// lead filtered loc
static struct   Location filtered_loc;
// Next WP is the desired location of the copter - the next waypoint or loiter location
static struct   Location next_WP;
// Prev WP is used to get the optimum path from one WP to the next
static struct   Location prev_WP;
// Holds the current loaded command from the EEPROM for navigation
static struct   Location command_nav_queue;
// Holds the current loaded command from the EEPROM for conditional scripts
static struct   Location command_cond_queue;
// Holds the current loaded command from the EEPROM for guided mode
static struct   Location guided_WP;


////////////////////////////////////////////////////////////////////////////////
// Crosstrack
////////////////////////////////////////////////////////////////////////////////
// deg * 100, The original angle to the next_WP when the next_WP was set
// Also used to check when we pass a WP
static int32_t original_target_bearing;
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
// should we take the waypoint quickly or slow down?
static bool fast_corner;


////////////////////////////////////////////////////////////////////////////////
// Navigation Roll/Pitch functions
////////////////////////////////////////////////////////////////////////////////
// all angles are deg * 100 : target yaw angle
// The Commanded ROll from the autopilot.
static int32_t nav_roll;
// The Commanded pitch from the autopilot. negative Pitch means go forward.
static int32_t nav_pitch;
// The desired bank towards North (Positive) or South (Negative)
static int32_t auto_roll;
static int32_t auto_pitch;

// Don't be fooled by the fact that Pitch is reversed from Roll in its sign!
static int16_t nav_lat;
// The desired bank towards East (Positive) or West (Negative)
static int16_t nav_lon;
// The Commanded ROll from the autopilot based on optical flow sensor.
static int32_t of_roll;
// The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward.
static int32_t of_pitch;
static bool slow_wp = false;


////////////////////////////////////////////////////////////////////////////////
// Navigation Throttle control
////////////////////////////////////////////////////////////////////////////////
// The Commanded Throttle from the autopilot.
static int16_t nav_throttle;                                            // 0-1000 for throttle control
// This is a simple counter to track the amount of throttle used during flight
// This could be useful later in determining and debuging current usage and predicting battery life
static uint32_t throttle_integrator;

////////////////////////////////////////////////////////////////////////////////
// Climb rate control
////////////////////////////////////////////////////////////////////////////////
// Time when we intiated command in millis - used for controlling decent rate
// Used to track the altitude offset for climbrate control
static int8_t alt_change_flag;

////////////////////////////////////////////////////////////////////////////////
// Navigation Yaw control
////////////////////////////////////////////////////////////////////////////////
// The Commanded Yaw from the autopilot.
static int32_t nav_yaw;
// A speed governer for Yaw control - limits the rate the quad can be turned by the autopilot
static int32_t auto_yaw;
// Used to manage the Yaw hold capabilities -
static bool yaw_stopped;
static uint8_t yaw_timer;
// Options include: no tracking, point at next wp, or at a target
static byte yaw_tracking = MAV_ROI_WPNEXT;
// In AP Mission scripting we have a fine level of control for Yaw
// This is our initial angle for relative Yaw movements
static int32_t command_yaw_start;
// Timer values used to control the speed of Yaw movements
static uint32_t command_yaw_start_time;
static uint16_t command_yaw_time;                                       // how long we are turning
static int32_t command_yaw_end;                                         // what angle are we trying to be
// how many degrees will we turn
static int32_t command_yaw_delta;
// Deg/s we should turn
static int16_t command_yaw_speed;
// Direction we will turn –  1 = CW, 0 or -1 = CCW
static byte command_yaw_dir;
// Direction we will turn – 1 = relative, 0 = Absolute
static byte command_yaw_relative;
// Yaw will point at this location if yaw_tracking is set to MAV_ROI_LOCATION
static struct   Location target_WP;



////////////////////////////////////////////////////////////////////////////////
// Repeat Mission Scripting Command
////////////////////////////////////////////////////////////////////////////////
// The type of repeating event - Toggle a servo channel, Toggle the APM1 relay, etc
static byte event_id;
// Used to manage the timimng of repeating events
static uint32_t event_timer;
// How long to delay the next firing of event in millis
static uint16_t event_delay;
// how many times to fire : 0 = forever, 1 = do once, 2 = do twice
static int16_t event_repeat;
// per command value, such as PWM for servos
static int16_t event_value;
// the stored value used to undo commands - such as original PWM command
static int16_t event_undo_value;

////////////////////////////////////////////////////////////////////////////////
// Delay Mission Scripting Command
////////////////////////////////////////////////////////////////////////////////
static int32_t condition_value;  // used in condition commands (eg delay, change alt, etc.)
static uint32_t condition_start;


////////////////////////////////////////////////////////////////////////////////
// IMU variables
////////////////////////////////////////////////////////////////////////////////
// Integration time for the gyros (DCM algorithm)
// Updated with the fast loop
static float G_Dt               = 0.02;

////////////////////////////////////////////////////////////////////////////////
// Inertial Navigation
////////////////////////////////////////////////////////////////////////////////
#if INERTIAL_NAV == ENABLED
// The rotated accelerometer values
static Vector3f accels_velocity;
static Vector3f accels_position;

// accels rotated to world frame
static Vector3f accels_rotated;
//static Vector3f position_error;

// error correction
static Vector3f speed_error;

// Manage accel drift
//static float z_offset;
//static Vector3f accels_scale;

#endif

////////////////////////////////////////////////////////////////////////////////
// Performance monitoring
////////////////////////////////////////////////////////////////////////////////
// Used to manage the rate of performance logging messages
static int16_t perf_mon_counter;
// The number of GPS fixes we have had
static int16_t gps_fix_count;
// gps_watchdog checks for bad reads and if we miss 12 in a row, we stop navigating
// by lowering nav_lat and navlon to 0 gradually
static byte gps_watchdog;

// System Timers
// --------------
// Time in microseconds of main control loop
static uint32_t fast_loopTimer;
// Time in microseconds of 50hz control loop
static uint32_t fiftyhz_loopTimer;
// Counters for branching from 10 hz control loop
static byte medium_loopCounter;
// Counters for branching from 3 1/3hz control loop
static byte slow_loopCounter;
// Counters for branching at 1 hz
static byte counter_one_herz;
// used to track the elapsed time between GPS reads
static uint32_t nav_loopTimer;
// Delta Time in milliseconds for navigation computations, updated with every good GPS read
static float dTnav;
// Counters for branching from 4 minute control loop used to save Compass offsets
static int16_t superslow_loopCounter;
// Loiter timer - Records how long we have been in loiter
static uint32_t loiter_timer;
// disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight
static uint8_t auto_disarming_counter;
// prevents duplicate GPS messages from entering system
static uint32_t last_gps_time;

// Tracks if GPS is enabled based on statup routine
// If we do not detect GPS at startup, we stop trying and assume GPS is not connected
static bool GPS_enabled     = false;
// Set true if we have new PWM data to act on from the Radio
static bool new_radio_frame;
// Used to auto exit the in-flight leveler
static int16_t auto_level_counter;

// Reference to the AP relay object - APM1 only
AP_Relay relay;

// APM2 only
#if USB_MUX_PIN > 0
static bool usb_connected;
#endif


// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount(&current_loc, g_gps, &ahrs, 0);
#endif

#if MOUNT2 == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
#endif

#if CAMERA == ENABLED
//pinMode(camtrig, OUTPUT);			// these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
#endif

////////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
#ifdef AP_LIMITS

AP_Limits limits;

AP_Limit_GPSLock        gpslock_limit(g_gps);

AP_Limit_Geofence       geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, &current_loc);

AP_Limit_Altitude       altitude_limit(&current_loc);

#endif

////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////

void setup() {
    memcheck_init();
    init_ardupilot();
}

void loop()
{
    uint32_t timer                  = micros();

    // We want this to execute fast
    // ----------------------------
    if ((timer - fast_loopTimer) >= 10000 && imu.new_data_available()) {
		#if DEBUG_FAST_LOOP == ENABLED
        Log_Write_Data(50, (int32_t)(timer - fast_loopTimer));
        #endif

        //PORTK |= B00010000;
        G_Dt                            = (float)(timer - fast_loopTimer) / 1000000.f;                  // used by PI Loops
        fast_loopTimer          = timer;

        // Execute the fast loop
        // ---------------------
        fast_loop();
    } else {
#ifdef DESKTOP_BUILD
        usleep(1000);
#endif
    }

    // port manipulation for external timing of main loops
    //PORTK &= B11101111;

    if ((timer - fiftyhz_loopTimer) >= 20000) {

		#if DEBUG_MED_LOOP == ENABLED
    	Log_Write_Data(51, (int32_t)(timer - fiftyhz_loopTimer));
        #endif

        // store the micros for the 50 hz timer
        fiftyhz_loopTimer               = timer;

        // port manipulation for external timing of main loops
        //PORTK |= B01000000;

        // reads all of the necessary trig functions for cameras, throttle, etc.
        // --------------------------------------------------------------------
        update_trig();

        // Rotate the Nav_lon and nav_lat vectors based on Yaw
        // ---------------------------------------------------
        calc_loiter_pitch_roll();

        // check for new GPS messages
        // --------------------------
        update_GPS();

        // perform 10hz tasks
        // ------------------
        medium_loop();

        // Stuff to run at full 50hz, but after the med loops
        // --------------------------------------------------
        fifty_hz_loop();

        counter_one_herz++;

        // trgger our 1 hz loop
        if(counter_one_herz >= 50) {
            super_slow_loop();
            counter_one_herz = 0;
        }
        perf_mon_counter++;
        if (perf_mon_counter > 600 ) {
            if (g.log_bitmask & MASK_LOG_PM)
                Log_Write_Performance();

            gps_fix_count           = 0;
            perf_mon_counter        = 0;
        }
        //PORTK &= B10111111;
    }
}
//  PORTK |= B01000000;
//	PORTK &= B10111111;

// Main loop - 100hz
static void fast_loop()
{
    // try to send any deferred messages if the serial port now has
    // some space available
    gcs_send_message(MSG_RETRY_DEFERRED);

    // Read radio
    // ----------
    read_radio();

    // IMU DCM Algorithm
    // --------------------
    read_AHRS();

    // Inertial Nav
    // --------------------
#if INERTIAL_NAV == ENABLED
    calc_inertia();
#endif

    // custom code/exceptions for flight modes
    // ---------------------------------------
    update_yaw_mode();
    update_roll_pitch_mode();

    // write out the servo PWM values
    // ------------------------------
    set_servos_4();

    // agmatthews - USERHOOKS
#ifdef USERHOOK_FASTLOOP
    USERHOOK_FASTLOOP
#endif

}

static void medium_loop()
{
    // This is the start of the medium (10 Hz) loop pieces
    // -----------------------------------------
    switch(medium_loopCounter) {

    // This case deals with the GPS and Compass
    //-----------------------------------------
    case 0:
        medium_loopCounter++;

#if HIL_MODE != HIL_MODE_ATTITUDE                                                               // don't execute in HIL mode
        if(g.compass_enabled) {
            if (compass.read()) {
                compass.null_offsets();
            }
        }
#endif

        // auto_trim, uses an auto_level algorithm
        auto_trim();

        // record throttle output
        // ------------------------------
        throttle_integrator += g.rc_3.servo_out;
        break;

    // This case performs some navigation computations
    //------------------------------------------------
    case 1:
        medium_loopCounter++;

        // calculate the copter's desired bearing and WP distance
        // ------------------------------------------------------
        if(nav_ok) {
            // clear nav flag
            nav_ok = false;

            // calculate distance, angles to target
            navigate();

            // update flight control system
            update_navigation();

            // update log
            if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()) {
                Log_Write_Nav_Tuning();
            }
        }
        break;

    // command processing
    //-------------------
    case 2:
        medium_loopCounter++;

        if(control_mode == TOY_A) {
            update_toy_throttle();

            if(throttle_mode == THROTTLE_AUTO) {
                update_toy_altitude();
            }
        }

        alt_sensor_flag = true;
        break;

    // This case deals with sending high rate telemetry
    //-------------------------------------------------
    case 3:
        medium_loopCounter++;

        // perform next command
        // --------------------
        if(control_mode == AUTO) {
            if(home_is_set == true && g.command_total > 1) {
                update_commands();
            }
        }

        if(motors.armed()) {
            if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
                Log_Write_Attitude();

            if (g.log_bitmask & MASK_LOG_MOTORS)
                Log_Write_Motors();
        }
        break;

    // This case controls the slow loop
    //---------------------------------
    case 4:
        medium_loopCounter = 0;

        if (g.battery_monitoring != 0) {
            read_battery();
        }

        // Accel trims      = hold > 2 seconds
        // Throttle cruise  = switch less than 1 second
        // --------------------------------------------
        read_trim_switch();

        // Check for engine arming
        // -----------------------
        arm_motors();

        // Do an extra baro read for Temp sensing
        // ---------------------------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
        barometer.read();
#endif

        // agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
        USERHOOK_MEDIUMLOOP
#endif

#if COPTER_LEDS == ENABLED
        update_copter_leds();
#endif

        slow_loop();
        break;

    default:
        // this is just a catch all
        // ------------------------
        medium_loopCounter = 0;
        break;
    }
}

// stuff that happens at 50 hz
// ---------------------------
static void fifty_hz_loop()
{
    // read altitude sensors or estimate altitude
    // ------------------------------------------
    update_altitude_est();

    // Update the throttle ouput
    // -------------------------
    update_throttle_mode();

    // Read Sonar
    // ----------
# if CONFIG_SONAR == ENABLED
    if(g.sonar_enabled) {
        sonar_alt = sonar.read();
    }
#endif

#if TOY_EDF == ENABLED
    edf_toy();
#endif

    // syncronise optical flow reads with altitude reads
#ifdef OPTFLOW_ENABLED
    if(g.optflow_enabled) {
        update_optical_flow();
    }
#endif


#ifdef USERHOOK_50HZLOOP
    USERHOOK_50HZLOOP
#endif


#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
    // HIL for a copter needs very fast update of the servo values
    gcs_send_message(MSG_RADIO_OUT);
#endif

#if MOUNT == ENABLED
    // update camera mount's position
    camera_mount.update_mount_position();
#endif

#if MOUNT2 == ENABLED
    // update camera mount's position
    camera_mount2.update_mount_position();
#endif

#if CAMERA == ENABLED
    g.camera.trigger_pic_cleanup();
#endif

# if HIL_MODE == HIL_MODE_DISABLED
    if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed())
        Log_Write_Attitude();

    if (g.log_bitmask & MASK_LOG_RAW && motors.armed())
        Log_Write_Raw();
#endif

    // kick the GCS to process uplink data
    gcs_update();
    gcs_data_stream_send();
}


static void slow_loop()
{

#if AP_LIMITS == ENABLED

    // Run the AP_Limits main loop
    limits_loop();

#endif // AP_LIMITS_ENABLED

    // This is the slow (3 1/3 Hz) loop pieces
    //----------------------------------------
    switch (slow_loopCounter) {
    case 0:
        slow_loopCounter++;
        superslow_loopCounter++;

        if(superslow_loopCounter > 1200) {
#if HIL_MODE != HIL_MODE_ATTITUDE
            if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled) {
                compass.save_offsets();
                superslow_loopCounter = 0;
            }
#endif
        }

        // check the user hasn't updated the frame orientation
        if( !motors.armed() ) {
            motors.set_frame_orientation(g.frame_orientation);
        }

        break;

    case 1:
        slow_loopCounter++;

        // Read 3-position switch on radio
        // -------------------------------
        read_control_switch();

#if MOUNT == ENABLED
        update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
        enable_aux_servos();

#if MOUNT == ENABLED
        camera_mount.update_mount_type();
#endif

#if MOUNT2 == ENABLED
        camera_mount2.update_mount_type();
#endif

        // agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP
        USERHOOK_SLOWLOOP
#endif

        break;

    case 2:
        slow_loopCounter = 0;
        update_events();

        // blink if we are armed
        update_lights();

        if(g.radio_tuning > 0)
            tuning();

#if USB_MUX_PIN > 0
        check_usb_mux();
#endif
        break;

    default:
        slow_loopCounter = 0;
        break;
    }
}

#define AUTO_DISARMING_DELAY 25
// 1Hz loop
static void super_slow_loop()
{
    if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
        Log_Write_Current();


#if 0         //CENTER_THROTTLE == 1
    // recalibrate the throttle_cruise to center on the sticks
    g.rc_3.set_range((g.throttle_cruise - (MAXIMUM_THROTTLE - g.throttle_cruise)), MAXIMUM_THROTTLE);
    g.rc_3.set_range_out(0,1000);
#endif

    // this function disarms the copter if it has been sitting on the ground for any moment of time greater than 25 seconds
    // but only of the control mode is manual
    if((control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
        auto_disarming_counter++;

        if(auto_disarming_counter == AUTO_DISARMING_DELAY) {
            init_disarm_motors();
        }else if (auto_disarming_counter > AUTO_DISARMING_DELAY) {
            auto_disarming_counter = AUTO_DISARMING_DELAY + 1;
        }
    }else{
        auto_disarming_counter = 0;
    }

    gcs_send_message(MSG_HEARTBEAT);

    // agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP
    USERHOOK_SUPERSLOWLOOP
#endif

    /*
     *  //Serial.printf("alt %d, next.alt %d, alt_err: %d, cruise: %d, Alt_I:%1.2f, wp_dist %d, tar_bear %d, home_d %d, homebear %d\n",
     *                               current_loc.alt,
     *                               next_WP.alt,
     *                               altitude_error,
     *                               g.throttle_cruise.get(),
     *                               g.pi_alt_hold.get_integrator(),
     *                               wp_distance,
     *                               target_bearing,
     *                               home_distance,
     *                               home_to_copter_bearing);
     */
}

// updated at 10 Hz
#ifdef OPTFLOW_ENABLED
static void update_optical_flow(void)
{
    static int log_counter = 0;

    optflow.update();
    optflow.update_position(ahrs.roll, ahrs.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt);      // updates internal lon and lat with estimation based on optical flow

    // write to log
    log_counter++;
    if( log_counter >= 5 ) {
        log_counter = 0;
        if (g.log_bitmask & MASK_LOG_OPTFLOW) {
            Log_Write_Optflow();
        }
    }

    /*if(g.optflow_enabled && current_loc.alt < 500){
     *       if(GPS_enabled){
     *               // if we have a GPS, we add some detail to the GPS
     *               // XXX this may not ne right
     *               current_loc.lng += optflow.vlon;
     *               current_loc.lat += optflow.vlat;
     *
     *               // some sort of error correction routine
     *               //current_loc.lng -= ERR_GAIN * (float)(current_loc.lng - x_GPS_speed); // error correction
     *               //current_loc.lng -= ERR_GAIN * (float)(current_loc.lng - x_GPS_speed); // error correction
     *       }else{
     *               // if we do not have a GPS, use relative from 0 for lat and lon
     *               current_loc.lng = optflow.vlon;
     *               current_loc.lat = optflow.vlat;
     *       }
     *       // OK to run the nav routines
     *       nav_ok = true;
     *  }*/
}
#endif

// called at 50hz
static void update_GPS(void)
{
    // A counter that is used to grab at least 10 reads before commiting the Home location
    static byte ground_start_count  = 10;

    // return immediately if GPS is not enabled
    if( !GPS_enabled ) {
        return;
    }

    g_gps->update();
    update_GPS_light();

    if(gps_watchdog < 30) {
        gps_watchdog++;
    }else{
        // after 12 reads we guess we may have lost GPS signal, stop navigating
        // we have lost GPS signal for a moment. Reduce our error to avoid flyaways
        auto_roll  >>= 1;
        auto_pitch >>= 1;
    }

    if (g_gps->new_data && g_gps->fix) {
        // clear new data flag
        g_gps->new_data = false;

        // check for duiplicate GPS messages
        if(last_gps_time != g_gps->time) {

            // look for broken GPS
            // ---------------
            gps_watchdog = 0;

            // OK to run the nav routines
            // ---------------
            nav_ok = true;

            // for performance monitoring
            // --------------------------
            gps_fix_count++;

            // used to calculate speed in X and Y, iterms
            // ------------------------------------------
            dTnav                           = (float)(millis() - nav_loopTimer)/ 1000.0;
            nav_loopTimer           = millis();

            // prevent runup from bad GPS
            // --------------------------
            dTnav = min(dTnav, 1.0);

            if(ground_start_count > 1) {
                ground_start_count--;

            } else if (ground_start_count == 1) {

                // We countdown N number of good GPS fixes
                // so that the altitude is more accurate
                // -------------------------------------
                if (current_loc.lat == 0) {
                    ground_start_count = 5;

                }else{
                    if (g.compass_enabled) {
                        // Set compass declination automatically
                        compass.set_initial_location(g_gps->latitude, g_gps->longitude);
                    }
                    // save home to eeprom (we must have a good fix to have reached this point)
                    init_home();
                    ground_start_count = 0;
                }
            }

            current_loc.lng = g_gps->longitude;                 // Lon * 10^7
            current_loc.lat = g_gps->latitude;                  // Lat * 10^7

            calc_XY_velocity();

            if (g.log_bitmask & MASK_LOG_GPS && motors.armed()) {
                Log_Write_GPS();
            }

#if HIL_MODE == HIL_MODE_ATTITUDE                                                               // only execute in HIL mode
            //update_altitude();
            alt_sensor_flag = true;
#endif
        }

        // save GPS time so we don't get duplicate reads
        last_gps_time = g_gps->time;
    }
}

void update_yaw_mode(void)
{
    switch(yaw_mode) {
    case YAW_ACRO:
        g.rc_4.servo_out = get_acro_yaw(g.rc_4.control_in);
        return;
        break;

        // update to allow external roll/yaw mixing
#if TOY_LOOKUP == TOY_EXTERNAL_MIXER
    case YAW_TOY:
#endif

    case YAW_HOLD:
        if(g.rc_4.control_in != 0) {
            g.rc_4.servo_out = get_acro_yaw(g.rc_4.control_in);
            yaw_stopped = false;
            yaw_timer = 150;

        }else if (!yaw_stopped) {
            g.rc_4.servo_out = get_acro_yaw(0);
            yaw_timer--;

            if((yaw_timer == 0) || (fabs(omega.z) < .17)) {
                yaw_stopped = true;
                nav_yaw = ahrs.yaw_sensor;
            }
        }else{
            // reset target yaw to current yaw if the motors are disarmed or throttle is zero
            // Note: we do not want to reset yaw if failsafe has been triggered even though throttle maybe zero (in fact, normally throttle is zero in failsafe)
            if(motors.armed() == false || ((g.rc_3.control_in == 0) && (control_mode <= ACRO) && !failsafe))
                nav_yaw = ahrs.yaw_sensor;

            g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
        }
        return;
        break;

    case YAW_LOOK_AT_HOME:
        //nav_yaw updated in update_navigation()
        g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
        break;

    case YAW_AUTO:
        nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -60, 60);                 // 40 deg a second
        //Serial.printf("nav_yaw %d ", nav_yaw);
        nav_yaw  = wrap_360(nav_yaw);
        g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
        break;
    }
}

void update_roll_pitch_mode(void)
{
    if (do_flip) {
        if(abs(g.rc_1.control_in) < 4000) {
            roll_flip();
            return;
        }else{
            // force an exit from the loop if we are not hands off sticks.
            do_flip = false;
        }
    }

    switch(roll_pitch_mode) {
    case ROLL_PITCH_ACRO:
        if(g.axis_enabled) {
            roll_axis       += (float)g.rc_1.control_in * g.axis_lock_p;
            pitch_axis      += (float)g.rc_2.control_in * g.axis_lock_p;

            roll_axis = wrap_360(roll_axis);
            pitch_axis = wrap_360(pitch_axis);

            // in this mode, nav_roll and nav_pitch = the iterm
            g.rc_1.servo_out = get_stabilize_roll(roll_axis);
            g.rc_2.servo_out = get_stabilize_pitch(pitch_axis);

            if (g.rc_3.control_in == 0) {
                roll_axis = 0;
                pitch_axis = 0;
            }

        }else{
            // ACRO does not get SIMPLE mode ability
#if FRAME_CONFIG == HELI_FRAME
            if (motors.flybar_mode == 1) {
                g.rc_1.servo_out = g.rc_1.control_in;
                g.rc_2.servo_out = g.rc_2.control_in;
            } else {
                g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
                g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
            }
#else
            g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
            g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
#endif
        }
        break;

    case ROLL_PITCH_STABLE:
        // apply SIMPLE mode transform
        if(do_simple && new_radio_frame) {
            update_simple_mode();
        }

        control_roll            = g.rc_1.control_in;
        control_pitch           = g.rc_2.control_in;

        // in this mode, nav_roll and nav_pitch = the iterm
        g.rc_1.servo_out = get_stabilize_roll(control_roll);
        g.rc_2.servo_out = get_stabilize_pitch(control_pitch);
        break;

    case ROLL_PITCH_AUTO:
        // apply SIMPLE mode transform
        if(do_simple && new_radio_frame) {
            update_simple_mode();
        }
        // mix in user control with Nav control
        nav_roll                += constrain(wrap_180(auto_roll  - nav_roll),  -g.auto_slew_rate.get(), g.auto_slew_rate.get());                 // 40 deg a second
        nav_pitch               += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get());                 // 40 deg a second

        control_roll            = g.rc_1.control_mix(nav_roll);
        control_pitch           = g.rc_2.control_mix(nav_pitch);

        g.rc_1.servo_out        = get_stabilize_roll(control_roll);
        g.rc_2.servo_out        = get_stabilize_pitch(control_pitch);
        break;

    case ROLL_PITCH_STABLE_OF:
        // apply SIMPLE mode transform
        if(do_simple && new_radio_frame) {
            update_simple_mode();
        }

        control_roll            = g.rc_1.control_in;
        control_pitch           = g.rc_2.control_in;

        // mix in user control with optical flow
        g.rc_1.servo_out 		= get_stabilize_roll(get_of_roll(control_roll));
        g.rc_2.servo_out 		= get_stabilize_pitch(get_of_pitch(control_pitch));
        break;

    // THOR
    // a call out to the main toy logic
    case ROLL_PITCH_TOY:
        roll_pitch_toy();
        break;
    }

    if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
        reset_rate_I();
        reset_stability_I();
    }

    //if(takeoff_complete == false){
    // reset these I terms to prevent awkward tipping on takeoff
    //reset_rate_I();
    //reset_stability_I();
    //}

    if(new_radio_frame) {
        // clear new radio frame info
        new_radio_frame = false;

        // These values can be used to scale the PID gains
        // This allows for a simple gain scheduling implementation
        roll_scale_d    = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in);
        roll_scale_d    = (1 - (roll_scale_d / 4500.0));
        roll_scale_d    = constrain(roll_scale_d, 0, 1) * g.stabilize_d;

        pitch_scale_d   = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in);
        pitch_scale_d   = (1 - (pitch_scale_d / 4500.0));
        pitch_scale_d   = constrain(pitch_scale_d, 0, 1) * g.stabilize_d;
    }
}

// new radio frame is used to make sure we only call this at 50hz
void update_simple_mode(void)
{
    static byte simple_counter = 0;             // State machine counter for Simple Mode
    static float simple_sin_y=0, simple_cos_x=0;

    // used to manage state machine
    // which improves speed of function
    simple_counter++;

    int16_t delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;

    if (simple_counter == 1) {
        // roll
        simple_cos_x = sin(radians(90 - delta));

    }else if (simple_counter > 2) {
        // pitch
        simple_sin_y = cos(radians(90 - delta));
        simple_counter = 0;
    }

    // Rotate input by the initial bearing
    int16_t _roll   = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
    int16_t _pitch  = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);

    g.rc_1.control_in = _roll;
    g.rc_2.control_in = _pitch;
}

#define THROTTLE_FILTER_SIZE 2

// 50 hz update rate
// controls all throttle behavior
void update_throttle_mode(void)
{
    if(do_flip)     // this is pretty bad but needed to flip in AP modes.
        return;

    int16_t throttle_out;

#if AUTO_THROTTLE_HOLD != 0
    static float throttle_avg = 0;      // this is initialised to g.throttle_cruise later
#endif

#if FRAME_CONFIG != HELI_FRAME
    // calculate angle boost
    if(throttle_mode ==  THROTTLE_MANUAL) {
        angle_boost = get_angle_boost(g.rc_3.control_in);
    }else{
        angle_boost = get_angle_boost(g.throttle_cruise);
    }
#endif

    switch(throttle_mode) {
    case THROTTLE_MANUAL:
        if (g.rc_3.control_in > 0) {
#if FRAME_CONFIG == HELI_FRAME
            g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in);
#else
            if (control_mode == ACRO) {
                g.rc_3.servo_out        = g.rc_3.control_in;
            }else{
                g.rc_3.servo_out        = g.rc_3.control_in + angle_boost;
            }
#endif

#if AUTO_THROTTLE_HOLD != 0
            // ensure throttle_avg has been initialised
            if( throttle_avg == 0 ) {
                throttle_avg = g.throttle_cruise;
            }
            // calc average throttle
            if ((g.rc_3.control_in > g.throttle_min) && abs(climb_rate) < 60) {
                throttle_avg = throttle_avg * .99 + (float)g.rc_3.control_in * .01;
                g.throttle_cruise = throttle_avg;
            }
#endif

            if (takeoff_complete == false && motors.armed()) {
                if (g.rc_3.control_in > g.throttle_cruise) {
                    // we must be in the air by now
                    takeoff_complete = true;
                }
            }

        }else{

            // make sure we also request 0 throttle out
            // so the props stop ... properly
            // ----------------------------------------
            g.rc_3.servo_out = 0;
        }
        break;

    case THROTTLE_HOLD:
        // allow interactive changing of atitude
        /*
        if(g.rc_3.control_in < 200) {
            reset_throttle_counter = 150;
            nav_throttle            = get_throttle_rate(-120);
            g.rc_3.servo_out        = g.throttle_cruise + nav_throttle + angle_boost;
            break;
        }else if (g.rc_3.control_in > 800) {
            reset_throttle_counter = 50;
            nav_throttle            = get_throttle_rate(180);
            g.rc_3.servo_out        = g.throttle_cruise + nav_throttle + angle_boost;
            break;
        }
        */

        if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){
            int16_t _rate = 120 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20);
            reset_throttle_counter = 150;
            nav_throttle        = get_throttle_rate(-_rate);
            g.rc_3.servo_out    = g.throttle_cruise + nav_throttle + angle_boost;
            break;
        }else if(g.rc_3.radio_in > (g.rc_3.radio_max - 200)){
            int16_t _rate = 180 - ((g.rc_3.radio_max -  g.rc_3.radio_in) * 18) / 20;
            reset_throttle_counter = 150;
            nav_throttle        = get_throttle_rate(_rate);
            g.rc_3.servo_out    = g.throttle_cruise + nav_throttle + angle_boost;
            break;
        }


        // allow 1 second of slow down after pilot moves throttle back into deadzone
        if(reset_throttle_counter > 0) {
            reset_throttle_counter--;
            // if 1 second has passed set the target altitude to the current altitude
            if(reset_throttle_counter == 0) {
                force_new_altitude(max(current_loc.alt, 100));
            }else{
                nav_throttle            = get_throttle_rate(0);
                g.rc_3.servo_out        = g.throttle_cruise + nav_throttle + angle_boost;
                break;
            }
        }

    // else fall through

    case THROTTLE_AUTO:

        if(motors.auto_armed() == true) {

            // how far off are we
            altitude_error = get_altitude_error();

            int16_t desired_speed;
            if(alt_change_flag == REACHED_ALT) {                    // we are at or above the target alt
                desired_speed           = g.pi_alt_hold.get_p(altitude_error);                                          // calculate desired speed from lon error
                update_throttle_cruise(g.pi_alt_hold.get_i(altitude_error, .02));
                desired_speed           = constrain(desired_speed, -250, 250);
                nav_throttle            = get_throttle_rate(desired_speed);
            }else{
                desired_speed           = get_desired_climb_rate();
                nav_throttle            = get_throttle_rate(desired_speed);
            }
        }

        // hack to remove the influence of the ground effect
        if(g.sonar_enabled && current_loc.alt < 100 && landing_boost != 0) {
            nav_throttle = min(nav_throttle, 0);
        }

#if FRAME_CONFIG == HELI_FRAME
        throttle_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle - landing_boost);
#else
        throttle_out = g.throttle_cruise + nav_throttle + angle_boost - landing_boost;
#endif

        g.rc_3.servo_out = throttle_out;
        break;
    }
}

// called after a GPS read
static void update_navigation()
{
    // wp_distance is in CM
    // --------------------
    switch(control_mode) {
    case AUTO:
        // note: wp_control is handled by commands_logic
        verify_commands();

        // calculates desired Yaw
        update_auto_yaw();

        // calculates the desired Roll and Pitch
        update_nav_wp();
        break;

    case GUIDED:
        wp_control = WP_MODE;
        // check if we are close to point > loiter
        wp_verify_byte = 0;
        verify_nav_wp();

        if (wp_control == WP_MODE) {
            update_auto_yaw();
        } else {
            set_mode(LOITER);
        }
        update_nav_wp();
        break;

    case RTL:
        // have we reached the desired Altitude?
        if(alt_change_flag <= REACHED_ALT) {                // we are at or above the target alt
            if(rtl_reached_alt == false) {
                rtl_reached_alt = true;
                do_RTL();
            }
            wp_control = WP_MODE;
            // checks if we have made it to home
            update_nav_RTL();
        } else{
            // we need to loiter until we are ready to come home
            wp_control = LOITER_MODE;
        }

        // calculates desired Yaw
#if FRAME_CONFIG ==     HELI_FRAME
        update_auto_yaw();
#endif

        // calculates the desired Roll and Pitch
        update_nav_wp();
        break;

    // switch passthrough to LOITER
    case LOITER:
    case POSITION:
        // This feature allows us to reposition the quad when the user lets
        // go of the sticks

        if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500) {
            if(wp_distance > 500)
                loiter_override         = true;
        }

        // Allow the user to take control temporarily,
        if(loiter_override) {
            // this sets the copter to not try and nav while we control it
            wp_control      = NO_NAV_MODE;

            // reset LOITER to current position
            next_WP.lat = current_loc.lat;
            next_WP.lng = current_loc.lng;

            if(g.rc_2.control_in == 0 && g.rc_1.control_in == 0) {
                loiter_override         = false;
                wp_control                      = LOITER_MODE;
            }
        }else{
            wp_control = LOITER_MODE;
        }

        if(loiter_timer != 0) {
            // If we have a safe approach alt set and we have been loitering for 20 seconds(default), begin approach
            if((millis() - loiter_timer) > (uint32_t)g.auto_land_timeout.get()) {
                // just to make sure we clear the timer
                loiter_timer = 0;
                if(g.rtl_approach_alt == 0) {
                    set_mode(LAND);
                    if(home_distance < 300) {
                        next_WP.lat = home.lat;
                        next_WP.lng = home.lng;
                    }
                }else{
                    if(g.rtl_approach_alt < current_loc.alt) {
                        set_new_altitude(g.rtl_approach_alt);
                    }
                }
            }
        }

        // calculates the desired Roll and Pitch
        update_nav_wp();
        break;

    case LAND:
        if(g.sonar_enabled)
            verify_land_sonar();
        else
            verify_land_baro();

        // calculates the desired Roll and Pitch
        update_nav_wp();
        break;

    case CIRCLE:
        wp_control              = CIRCLE_MODE;

        // calculates desired Yaw
        update_auto_yaw();
        update_nav_wp();
        break;

    case STABILIZE:
    case TOY_A:
    case TOY_M:
        wp_control = NO_NAV_MODE;
        update_nav_wp();
        break;
    }

    // are we in SIMPLE mode?
    if(do_simple && g.super_simple) {
        // get distance to home
        if(home_distance > SUPER_SIMPLE_RADIUS) {        // 10m from home
            // we reset the angular offset to be a vector from home to the quad
            initial_simple_bearing = home_to_copter_bearing;
            //Serial.printf("ISB: %d\n", initial_simple_bearing);
        }
    }

    if(yaw_mode == YAW_LOOK_AT_HOME) {
        if(home_is_set) {
            //nav_yaw = point_at_home_yaw();
            nav_yaw = get_bearing_cd(&current_loc, &home);
        } else {
            nav_yaw = 0;
        }
    }
}

static void update_nav_RTL()
{
    // Have we have reached Home?
    if(wp_distance <= 200 || check_missed_wp()) {
        // if loiter_timer value > 0, we are set to trigger auto_land or approach
        set_mode(LOITER);

        // just un case we arrive and we aren't at the lower RTL alt yet.
        set_new_altitude(get_RTL_alt());

        // force loitering above home
        next_WP.lat = home.lat;
        next_WP.lng = home.lng;

        // If failsafe OR auto approach altitude is set
        // we will go into automatic land, (g.rtl_approach_alt) is the lowest point
        // -1 means disable feature
        if(failsafe || g.rtl_approach_alt >= 0)
            loiter_timer = millis();
        else
            loiter_timer = 0;
    }

    slow_wp = true;
}

static void read_AHRS(void)
{
    // Perform IMU calculations and get attitude info
    //-----------------------------------------------
#if HIL_MODE != HIL_MODE_DISABLED
    // update hil before ahrs update
    gcs_update();
#endif

    ahrs.update();
    omega = imu.get_gyro();
}

static void update_trig(void){
    Vector2f yawvector;
    Matrix3f temp   = ahrs.get_dcm_matrix();

    yawvector.x     = temp.a.x;     // sin
    yawvector.y     = temp.b.x;         // cos
    yawvector.normalize();

    cos_pitch_x     = safe_sqrt(1 - (temp.c.x * temp.c.x));     // level = 1
    cos_roll_x          = temp.c.z / cos_pitch_x;                       // level = 1

    cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
    // this relies on constrain() of infinity doing the right thing,
    // which it does do in avr-libc
    cos_roll_x  = constrain(cos_roll_x, -1.0, 1.0);

    sin_yaw_y               = yawvector.x;                                              // 1y = north
    cos_yaw_x               = yawvector.y;                                              // 0x = north

    //flat:
    // 0 ° = cos_yaw:  0.00, sin_yaw:  1.00,
    // 90° = cos_yaw:  1.00, sin_yaw:  0.00,
    // 180 = cos_yaw:  0.00, sin_yaw: -1.00,
    // 270 = cos_yaw: -1.00, sin_yaw:  0.00,
}

// updated at 10hz
static void update_altitude()
{
    static int16_t old_sonar_alt   = 0;
    static int32_t old_baro_alt    = 0;

#if HIL_MODE == HIL_MODE_ATTITUDE
    // we are in the SIM, fake out the baro and Sonar
    int16_t fake_relative_alt = g_gps->altitude - gps_base_alt;
    baro_alt                = fake_relative_alt;
    sonar_alt               = fake_relative_alt;

    baro_rate               = (baro_alt - old_baro_alt) * 5;             // 5hz
    old_baro_alt            = baro_alt;

#else
    // This is real life

 #if INERTIAL_NAV == ENABLED
    baro_rate                       = accels_velocity.z;

 #else
    // read in Actual Baro Altitude
    baro_alt                        = read_barometer();

    // calc the vertical accel rate

     // 2.6 way
     int16_t temp		= (baro_alt - old_baro_alt) * 10;
     baro_rate          = (temp + baro_rate) >> 1;
     baro_rate			= constrain(baro_rate, -300, 300);
     old_baro_alt		= baro_alt;

    // Using Tridge's new clamb rate calc
    /*
    int16_t temp                    = barometer.get_climb_rate() * 100;
    baro_rate                       = (temp + baro_rate) >> 1;
    baro_rate                       = constrain(baro_rate, -300, 300);
    */
 #endif

    // Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
#endif

    if(g.sonar_enabled) {
        // filter out offset
        float scale;

        // calc rate of change for Sonar
#if HIL_MODE == HIL_MODE_ATTITUDE
        // we are in the SIM, fake outthe Sonar rate
        sonar_rate              = baro_rate;
#else
        // This is real life
        // calc the vertical accel rate
        // positive = going up.
        sonar_rate              = (sonar_alt - old_sonar_alt) * 10;
        sonar_rate              = constrain(sonar_rate, -150, 150);
        old_sonar_alt   = sonar_alt;
#endif

        if(baro_alt < 800) {
#if SONAR_TILT_CORRECTION == 1
            // correct alt for angle of the sonar
            float temp = cos_pitch_x * cos_roll_x;
            temp = max(temp, 0.707);
            sonar_alt = (float)sonar_alt * temp;
#endif

            scale = (float)(sonar_alt - 400) / 200.0;
            scale = constrain(scale, 0.0, 1.0);
            // solve for a blended altitude
            current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale);

            // solve for a blended climb_rate
            climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;

        }else{
            // we must be higher than sonar (>800), don't get tricked by bad sonar reads
            current_loc.alt = baro_alt;
            // dont blend, go straight baro

            climb_rate_actual       = baro_rate;
        }

    }else{
        // NO Sonar case
        current_loc.alt = baro_alt;
        climb_rate_actual = baro_rate;
    }

    // update the target altitude
    verify_altitude();

    // calc error
    climb_rate_error = (climb_rate_actual - climb_rate) / 5;

#if INERTIAL_NAV == ENABLED
    // inertial_nav
    z_error_correction();
#endif
}

static void update_altitude_est()
{
    if(alt_sensor_flag) {
        update_altitude();
        alt_sensor_flag = false;

        if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()) {
            Log_Write_Control_Tuning();
        }

    }else{
        // simple dithering of climb rate
        climb_rate += climb_rate_error;
        current_loc.alt += (climb_rate / 50);
    }
    //Serial.printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt);
}

/*
 * #define THROTTLE_ADJUST 225
 *  static void
 *  adjust_altitude()
 *  {
 *       if(g.rc_3.control_in <= (g.throttle_min + THROTTLE_ADJUST)){
 *               // we remove 0 to 100 PWM from hover
 *               manual_boost = (g.rc_3.control_in - g.throttle_min) - THROTTLE_ADJUST;
 *               manual_boost = max(-THROTTLE_ADJUST, manual_boost);
 *
 *       }else if  (g.rc_3.control_in >= (g.throttle_max - THROTTLE_ADJUST)){
 *               // we add 0 to 100 PWM to hover
 *               manual_boost = g.rc_3.control_in - (g.throttle_max - THROTTLE_ADJUST);
 *               manual_boost = min(THROTTLE_ADJUST, manual_boost);
 *
 *       }else {
 *               manual_boost = 0;
 *       }
 *  }
 */

static void tuning(){
    tuning_value = (float)g.rc_6.control_in / 1000.0;
    g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);                   // 0 to 1

    switch(g.radio_tuning) {

    case CH6_RATE_KD:
        g.pid_rate_roll.kD(tuning_value);
        g.pid_rate_pitch.kD(tuning_value);
        break;

    case CH6_STABILIZE_KP:
        g.pi_stabilize_roll.kP(tuning_value);
        g.pi_stabilize_pitch.kP(tuning_value);
        break;

    case CH6_STABILIZE_KI:
        g.pi_stabilize_roll.kI(tuning_value);
        g.pi_stabilize_pitch.kI(tuning_value);
        break;

    case CH6_DAMP:
    case CH6_STABILIZE_KD:
        g.stabilize_d = tuning_value;
        break;

    case CH6_ACRO_KP:
        g.acro_p = tuning_value;
        break;

    case CH6_RATE_KP:
        g.pid_rate_roll.kP(tuning_value);
        g.pid_rate_pitch.kP(tuning_value);
        break;

    case CH6_RATE_KI:
        g.pid_rate_roll.kI(tuning_value);
        g.pid_rate_pitch.kI(tuning_value);
        break;

    case CH6_YAW_KP:
        g.pi_stabilize_yaw.kP(tuning_value);
        break;

    case CH6_YAW_KI:
        g.pi_stabilize_yaw.kI(tuning_value);
        break;

    case CH6_YAW_RATE_KP:
        g.pid_rate_yaw.kP(tuning_value);
        break;

    case CH6_YAW_RATE_KD:
        g.pid_rate_yaw.kD(tuning_value);
        break;

    case CH6_THROTTLE_KP:
        g.pid_throttle.kP(tuning_value);
        break;

    case CH6_TOP_BOTTOM_RATIO:
        motors.top_bottom_ratio = tuning_value;
        break;

    case CH6_RELAY:
        if (g.rc_6.control_in > 525) relay.on();
        if (g.rc_6.control_in < 475) relay.off();
        break;

    case CH6_TRAVERSE_SPEED:
        g.waypoint_speed_max = g.rc_6.control_in;
        break;

    case CH6_LOITER_KP:
        g.pi_loiter_lat.kP(tuning_value);
        g.pi_loiter_lon.kP(tuning_value);
        break;

    case CH6_LOITER_KI:
        g.pi_loiter_lat.kI(tuning_value);
        g.pi_loiter_lon.kI(tuning_value);
        break;

    case CH6_NAV_KP:
        g.pid_nav_lat.kP(tuning_value);
        g.pid_nav_lon.kP(tuning_value);
        break;

    case CH6_LOITER_RATE_KP:
        g.pid_loiter_rate_lon.kP(tuning_value);
        g.pid_loiter_rate_lat.kP(tuning_value);
        break;

    case CH6_LOITER_RATE_KI:
        g.pid_loiter_rate_lon.kI(tuning_value);
        g.pid_loiter_rate_lat.kI(tuning_value);
        break;

    case CH6_LOITER_RATE_KD:
        g.pid_loiter_rate_lon.kD(tuning_value);
        g.pid_loiter_rate_lat.kD(tuning_value);
        break;

    case CH6_NAV_I:
        g.pid_nav_lat.kI(tuning_value);
        g.pid_nav_lon.kI(tuning_value);
        break;

#if FRAME_CONFIG == HELI_FRAME
    case CH6_HELI_EXTERNAL_GYRO:
        motors.ext_gyro_gain = tuning_value;
        break;
#endif

    case CH6_THR_HOLD_KP:
        g.pi_alt_hold.kP(tuning_value);
        break;

    case CH6_OPTFLOW_KP:
        g.pid_optflow_roll.kP(tuning_value);
        g.pid_optflow_pitch.kP(tuning_value);
        break;

    case CH6_OPTFLOW_KI:
        g.pid_optflow_roll.kI(tuning_value);
        g.pid_optflow_pitch.kI(tuning_value);
        break;

    case CH6_OPTFLOW_KD:
        g.pid_optflow_roll.kD(tuning_value);
        g.pid_optflow_pitch.kD(tuning_value);
        break;

#if HIL_MODE != HIL_MODE_ATTITUDE                                       // do not allow modifying _kp or _kp_yaw gains in HIL mode
    case CH6_AHRS_YAW_KP:
        ahrs._kp_yaw.set(tuning_value);
        break;

    case CH6_AHRS_KP:
        ahrs._kp.set(tuning_value);
        break;
#endif

    }
}

// Outputs Nav_Pitch and Nav_Roll
static void update_nav_wp()
{
    if(wp_control == LOITER_MODE) {

        // calc error to target
        calc_location_error(&next_WP);

        // use error as the desired rate towards the target
        calc_loiter(long_error, lat_error);

    }else if(wp_control == CIRCLE_MODE) {

        // check if we have missed the WP
        int16_t loiter_delta = (target_bearing - old_target_bearing)/100;

        // reset the old value
        old_target_bearing = target_bearing;

        // wrap values
        if (loiter_delta > 180) loiter_delta -= 360;
        if (loiter_delta < -180) loiter_delta += 360;

        // sum the angle around the WP
        loiter_sum += loiter_delta;

        // create a virtual waypoint that circles the next_WP
        // Count the degrees we have circulated the WP
        //int16_t circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;

        circle_angle += (circle_rate * dTnav);
        //1° = 0.0174532925 radians

        // wrap
        if (circle_angle > 6.28318531)
            circle_angle -= 6.28318531;

        next_WP.lng = circle_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
        next_WP.lat = circle_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));

        // use error as the desired rate towards the target
        // nav_lon, nav_lat is calculated

        if(wp_distance > 400) {
            calc_nav_rate(get_desired_speed(g.waypoint_speed_max, true));
        }else{
            // calc the lat and long error to the target
            calc_location_error(&next_WP);

            calc_loiter(long_error, lat_error);
        }

        //CIRCLE: angle:29, dist:0, lat:400, lon:242

        // debug
        //int16_t angleTest = degrees(circle_angle);
        //int16_t nroll = nav_roll;
        //int16_t npitch = nav_pitch;
        //Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d  \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);

    }else if(wp_control == WP_MODE) {
        // calc error to target
        calc_location_error(&next_WP);

        int16_t speed = get_desired_speed(g.waypoint_speed_max, slow_wp);
        // use error as the desired rate towards the target
        calc_nav_rate(speed);

    }else if(wp_control == NO_NAV_MODE) {
        // clear out our nav so we can do things like land straight down
        // or change Loiter position

        // We bring copy over our Iterms for wind control, but we don't navigate
        nav_lon = g.pid_loiter_rate_lon.get_integrator();
        nav_lat = g.pid_loiter_rate_lon.get_integrator();

        nav_lon                 = constrain(nav_lon, -2000, 2000);                              // 20°
        nav_lat                 = constrain(nav_lat, -2000, 2000);                              // 20°
    }
}

static void update_auto_yaw()
{
    if(wp_control == CIRCLE_MODE) {
        auto_yaw = get_bearing_cd(&current_loc, &circle_WP);

    }else if(wp_control == LOITER_MODE) {
        // just hold nav_yaw

    }else if(yaw_tracking == MAV_ROI_LOCATION) {
        auto_yaw = get_bearing_cd(&current_loc, &target_WP);

    }else if(yaw_tracking == MAV_ROI_WPNEXT) {
        // Point towards next WP
        auto_yaw = original_target_bearing;
    }
}
/*
 *       MAV_ROI_NONE=0,  No region of interest. |
 *       MAV_ROI_WPNEXT=1,  Point toward next MISSION. |
 *       MAV_ROI_WPINDEX=2,  Point toward given MISSION. |
 *       MAV_ROI_LOCATION=3,  Point toward fixed location. |
 *       MAV_ROI_TARGET=4,  Point toward of given id.
 *       MAV_ROI_ENUM_END=5,
 */