removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
Also removed slow low pass filter meant to correct for accelerometer calibration. This is no longer required now that we have the improved calibration method.
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
