Commit by abey :: r320 /trunk/lib/ (flight_controllers.c pid.c pid.h):

Flight controllers:

• improved the altitude control PID settings
• added 10deg pitch angle a priori
• improved the pitch angle control PID by adding a priori based on the load factor increase (1/cos(rollAngle) - 1) PID:
• added a priori version for the angular stepping functions
• added debug output of the a priori value

Commit by abey :: r319 /trunk/lib/ (pid.c pid.h):

Added an option to add a priori control value to the PID while still applying output saturation on the final output (taking into account the a priori value).

Commit by abey :: r318 /trunk/lib/ (8 files):

Made a macro for the "far" attribute for compatibility with non-dsPIC compilation.

Commit by abey :: r317 /trunk/lib/ (flight_controllers.c ins.c ins.h):

Flight controllers:

• ensured that a turn rate is always computed (min speed capped at 6m/s) even in case of air speed stuck to zero
• set the glide angle to 0 when speed in below min inflight speed (pitchAirSpeedINS) INS:
• use speed3d instead of airSpeed when status.airSpeed is not correct
• added a function to disable the speed compensation

Commit by abey :: r316 /trunk/lib/ (ins.c ins.h):

Made the dt constant configurable at compile time.

Commit by abey :: r315 /trunk/lib/pressure.c:

Fixed the glitching behaviour of ps_OffsetDynamicPressureTo().

Commit by abey :: r314 /trunk/lib/ (pressure.c pressure.h):

Added function to bias dynamic pressure to a specific value.

Commit by abey :: r313 /trunk/lib/nav_waypoint.c:

Fixed issue where a waypoint would switch to the next waypoint if set to auto-next after its altitude changed.

Commit by abey :: r312 /trunk/lib/ (pressure.c pressure.h):

Added static pressure in Pascal to the output of the pressure module.

Commit by abey :: r311 /trunk/lib/control_hub.c:

Fixed bug in motor failure implementation.

Commit by abey :: r310 /trunk/lib/control_hub.c:

Introduced the AEROPIC_FAILURE global define. If defined, it will enable code that allows to simulate various failure via a set of Ishtar variable (all starting with the "fail."). First implemented failure: motor loss.

Commit by abey :: r309 /trunk/lib/flight_controllers.c:

Several minor cleanings for better debugging of control issues.

Commit by abey :: r308 /trunk/lib/nav.h:

Slightly changed the voltage threshold for EMPTY BAT.

Commit by abey :: r307 /trunk/lib/ (nav.c nav.h):

Added hysteresis to EMPTY_BAT detection.

Commit by abey :: r306 /trunk/lib/ (nav_homing.c nav_homing.h):

Minor API addition to nav_homing.

Commit by abey :: r305 /trunk/lib/ (7segment_disp.c 7segment_disp.h):

Added a short blank between two identical characters to clearly separate them.

Commit by abey :: r304 /trunk/lib/nav.c:

Fixed wrong flag for disable wind check ishtar variable.

Commit by abey :: r303 /trunk/lib/nav.c:

Disable wind check should not be persistent.

Commit by abey :: r302 /trunk/lib/definitions.h:

Fixed bug in hypotf emulation... :/

Commit by abey :: r301 /trunk/lib/ (3 files):

• Added function to compute distance between arbitrary coordinates.
• Added support for the hypotf(), which is missing from Microchip's math.h.