resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers
Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
Remove Rate I-term reset when throttle stick is on the bottom. This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
Antenna Tracker mod from William Bryan
Scaling mods
battery screen mods
failsafe screen pwm checking
remove reverse radio options when we are using a quad
config menu reorganise
add Ateryx stuff
---------------------------------------------
- New improved fail-safe detection and handeling for single or multible signal loss and receiver malfuntion
- Improved LED status for APM 2.x
- Improved jitter performance (PPM output using nested interrupts)
-------------------------------------------------------------
ARDUPPM OPERATIONAL DESCRIPTION
-------------------------------------------------------------
APM 2.x LED STATUS:
-------------------
RX - OFF = No input signal detected
RX - SLOW TOGGLE = Input signal OK
RX - FAST TOGGLE = Invalid input signal(s) detected
RX - ON = Input signal(s) lost during flight and fail-safe activated
TX - OFF = PPM output disabled
TX - FAST TOGGLE = PPM output enabled
TX - SLOW TOGGLE = PPM pass-trough mode
SERVO INPUT (PWM) MODE:
-----------------------
- PPM output will not be enabled unless a input signal has been detected and verified
- Verified inputs are lost during operaton (lose servo wire or receiver malfunction):
+ The PPM output channel for the lost input will be set to the default fail-safe value
+ PPM throttle output (ch3) will be permanently set to fail-safe (900us)
- Lost channel signal is restored:
+ PPM output for the restored channel will be updated with the valid signal
+ PPM throttle output (ch3) will not be restored, and will continue to output fail-safe (900us)
PPM PASS-THROUGH MODE (signal pin 2&3 shorted):
-----------------------------------------------
- PPM output will not be enabled unless a input signal has been detected
- Active signal on input channel 1 has been detected:
+ Any input level changes will be passed directly to the PPM output (PPM pass-trough)
+ If no input level changes are detected withing 250ms:
+ PPM output is enabled and default fail-safe values for all eight channels transmitted
+ Input level change detected again, PPM fail-safe output is terminated and normal PPM pass-through operation is restored
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
Robert Lefebvre
Andrew Tridgell
Michael Oborne
John Arne Birkeland
rmackay9
Michael Oborne