I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.

So disable CLI when MOUNT is active. Sorry I did not detect it before, but the APM_Camera branch worked in a different way.

Patch by Gregory Fletcher and reviewed by me

Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>

Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED

Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>

Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)

hopefully it will stay building

I have no idea if it will actually work, but at least it builds

only Ublox supports nav_setting so far

the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type

we commonly re-open serial ports a lot in the AUTO GPS driver

ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)

this fixes the ACM build

this ensures all GPS parsers have a 256 byte buffer available

the UBLOX needs more than 128 bytes for reliable parsing

the parser was broken in several ways:

 1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
    thought the message had a bad checksum, which meant it got out of protocol sync

 2) the read() method would return false if the last message from the GPS was of an unknown type. 
    So we relied on the last msg always being one that we understand and want

 3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get 
    a new fix when we get box a new position and velned message

 4) the total message size per update is more than 128 bytes, but the serial port was opened 
    with only a 128 byte buffer, so we got corruption regularly

Modified Nav_Yaw controller to better track intended heading changes.

removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.