the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.
The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
ELEVON_CH1_REVERSE parameter. These parameter values are found in
g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
the combination of pitch & roll into ch1 & ch2, as there are already
parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
setting ARSPD_ENABLE to 1 and ARSPD_USE to 0 allows the airspeed
sensor to be initialised and logged without it being used for flight
control. This is very useful when initially testing an airspeed sensor
in a new plane. It also makes it possible to enable/disable the use of
the airspeed sensor during a flight at any time.
building with TELEMETRY_UART2=ENABLED allows you to use the solder
bridge on the APM2 to enable telemetry on UART2. This allows both USB
telemetry and a radio at the same time.
