2.0.16, Now that Yaw PID vs PI issue is sorted, this is reverting back to Rate based Yaw.

Made minor change in Loiter to check something.
Motor LEDs enabled. Let me know if they work OK.
Armed Motors is now Solid to match GPS behavior.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2421 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -7,7 +7,7 @@
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 
 #define NAV_TEST 1	// 0 = traditional, 1 = rate controlled
-#define YAW_OPTION 1	// 0 = hybrid rate approach, 1 = offset Yaw approach
+#define YAW_OPTION 0	// 0 = hybrid rate approach, 1 = offset Yaw approach
 #define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
 
 #define FRAME_CONFIG QUAD_FRAME
@@ -63,7 +63,7 @@
 
 
 
-#define MOTOR_LEDS 0	// 0 = off, 1 = on
+#define MOTOR_LEDS 1	// 0 = off, 1 = on
 
 #define FR_LED AN12  // Mega PE4 pin, OUT7
 #define RE_LED AN14  // Mega PE5 pin, OUT6

ArduCopterMega/ArduCopterMega.pde

@@ -436,11 +436,9 @@ byte 			slow_loopCounter;
 int 			superslow_loopCounter;
 byte			flight_timer;				// for limiting the execution of flight mode thingys
 
-unsigned long 	nav_loopTimer;				// used to track the elapsed ime for GPS nav
-unsigned long 	nav2_loopTimer;				// used to track the elapsed ime for GPS nav
 
 unsigned long 	dTnav;						// Delta Time in milliseconds for navigation computations
-unsigned long 	dTnav2;						// Delta Time in milliseconds for navigation computations
+unsigned long 	nav_loopTimer;				// used to track the elapsed ime for GPS nav
 unsigned long 	elapsedTime;				// for doing custom events
 float 			load;						// % MCU cycles used
 
@@ -577,11 +575,6 @@ void medium_loop()
 		case 1:
 			medium_loopCounter++;
 
-			// calc pitch and roll to target
-			// -----------------------------
-			dTnav2 				= millis() - nav2_loopTimer;
-			nav2_loopTimer 		= millis();
-
 			// hack to stop navigation in Simple mode
 			if (control_mode == SIMPLE)
 				break;
@@ -671,6 +664,7 @@ void medium_loop()
 		//---------------------------------
 		case 4:
 			medium_loopCounter = 0;
+
 			delta_ms_medium_loop	= millis() - medium_loopTimer;
 			medium_loopTimer    	= millis();
 
@@ -1171,7 +1165,8 @@ void update_navigation()
 			update_nav_yaw();
 		case LOITER:
 			// are we Traversing or Loitering?
-			wp_control = (wp_distance < 10) ? LOITER_MODE : WP_MODE;
+			//wp_control = (wp_distance < 10) ? LOITER_MODE : WP_MODE;
+			wp_control = LOITER_MODE;
 
 			// calculates the desired Roll and Pitch
 			update_nav_wp();

ArduCopterMega/navigation.pde

@@ -43,7 +43,7 @@ bool check_missed_wp()
 	return (abs(temp) > 10000);	//we pased the waypoint by 10 °
 }
 
-#define DIST_ERROR_MAX 700
+#define DIST_ERROR_MAX 1800
 void calc_loiter_nav()
 {
 	/*

ArduCopterMega/radio.pde

@@ -22,7 +22,7 @@ void init_rc_in()
 	g.rc_1.dead_zone = 60;		// 60 = .6 degrees
 	g.rc_2.dead_zone = 60;
 	g.rc_3.dead_zone = 60;
-	g.rc_4.dead_zone = 200;
+	g.rc_4.dead_zone = 300;
 
 	//set auxiliary ranges
 	g.rc_5.set_range(0,1000);

ArduCopterMega/setup.pde

@@ -271,8 +271,10 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
 		g.frame_orientation.set_and_save(X_FRAME);
 	} else if (!strcmp_P(argv[1].str, PSTR("p"))) {
 		g.frame_orientation.set_and_save(PLUS_FRAME);
+	} else if (!strcmp_P(argv[1].str, PSTR("+"))) {
+		g.frame_orientation.set_and_save(PLUS_FRAME);
 	}else{
-		Serial.printf_P(PSTR("\nOptions:[x,p]\n"));
+		Serial.printf_P(PSTR("\nOptions:[x,+]\n"));
 		report_frame();
 		return 0;
 	}

ArduCopterMega/system.pde

@@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.15 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.16 Beta", main_menu_commands);
 
 void init_ardupilot()
 {
@@ -439,7 +439,7 @@ void update_GPS_light(void)
 
 void update_motor_light(void)
 {
-	if(motor_armed == true){
+	if(motor_armed == false){
 		motor_light = !motor_light;
 
 		// blink