Allowed values to be set before Gear switch. Re-enabled x/y controllers and...

Allowed values to be set before Gear switch. Re-enabled x/y controllers and made throttle manual for autonomous mode.

quad/sw/modular_quad_pid/src/control_algorithm.c

@@ -184,13 +184,13 @@
 
 	parameter_struct->pid_controllers[PITCH_ID].current_point = sensor_struct->pitch_angle_filtered;
 	parameter_struct->pid_controllers[PITCH_ID].setpoint =
-			/*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
-			(parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim :*/ user_input_struct->pitch_angle_manual_setpoint;
+		(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+			(parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim : user_input_struct->pitch_angle_manual_setpoint;
 
 	parameter_struct->pid_controllers[ROLL_ID].current_point = sensor_struct->roll_angle_filtered;
 	parameter_struct->pid_controllers[ROLL_ID].setpoint =
-			/*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
-			(parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim :*/ user_input_struct->roll_angle_manual_setpoint;
+			(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+			(parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim : user_input_struct->roll_angle_manual_setpoint;
 
 
 	//logging and PID computation
@@ -239,8 +239,8 @@
 		if(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)
 		{
 			//THROTTLE
-			raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
-				((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
+			//raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
+			//	((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
 
 			//ROLL
 			raw_actuator_struct->controller_corrected_motor_commands[ROLL] =

quad/sw/modular_quad_pid/src/initialize_components.c

@@ -24,13 +24,10 @@ int protection_loops(modular_structs_t *structs)
 
 	// wait until throttle is low and the gear switch is engaged (so you don't immediately break out of the main loop below)
 	// also wait for the flight mode to be set to manual
-	while(rc_commands[THROTTLE] > 125000 || read_kill(rc_commands[GEAR]) || !read_flap(rc_commands[FLAP]))
-		read_rec_all(rc_commands);
-
-	// wait until the ground station has connected to the quad and acknowledged that its ready to start
-	while (!structs->user_input_struct.receivedBeginUpdate) {
+	while(rc_commands[THROTTLE] > 125000 || read_kill(rc_commands[GEAR]) || !read_flap(rc_commands[FLAP]) ||
+			!structs->user_input_struct.receivedBeginUpdate) {
 		process_received(structs);
-		usleep(10000);
+		read_rec_all(rc_commands);
 	}
 
 	// let the pilot/observers know that the quad is now active