Increased max pitch/roll angle and maximum output from rate controllers....

Increased max pitch/roll angle and maximum output from rate controllers. removed comment from log file being dumped.

quad/sw/modular_quad_pid/src/control_algorithm.c

@@ -10,7 +10,8 @@
 #include "control_algorithm.h"
 #include "communication.h"
 
-#define ROLL_PITCH_MAX_ANGLE 0.3490 // 20 degrees
+#define ROLL_PITCH_MAX_ANGLE 1.5708 // 90 degrees
+#define PWM_DIFF_BOUNDS 30000
 
  int control_algorithm_init(parameter_t * parameter_struct)
  {
@@ -232,8 +233,10 @@
 	memcpy(raw_actuator_struct->controller_corrected_motor_commands, user_input_struct->rc_commands, sizeof(int) * 6);
 
 	// don't use the PID corrections if the throttle is less than about 10% of its range
+	// NOTE!!!!!!!!!!!!!!!!!!!!!!
+	// re-enable the check for AUTO_FLIGHT_MODE when autonomous is fully enabled
 	if((user_input_struct->rc_commands[THROTTLE] >
-	118000) || (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE))
+	118000))// || (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE))
 	{
 
 		if(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)
@@ -284,23 +287,23 @@
 			raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] = 0;
 
 		//BOUNDS CHECKING
-		if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] > 20000)
-			raw_actuator_struct->controller_corrected_motor_commands[ROLL] = 20000;
+		if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] > PWM_DIFF_BOUNDS)
+			raw_actuator_struct->controller_corrected_motor_commands[ROLL] = PWM_DIFF_BOUNDS;
 
-		if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] < -20000)
-			raw_actuator_struct->controller_corrected_motor_commands[ROLL] = -20000;
+		if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] < -PWM_DIFF_BOUNDS)
+			raw_actuator_struct->controller_corrected_motor_commands[ROLL] = -PWM_DIFF_BOUNDS;
 
-		if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] > 20000)
-			raw_actuator_struct->controller_corrected_motor_commands[PITCH] = 20000;
+		if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] > PWM_DIFF_BOUNDS)
+			raw_actuator_struct->controller_corrected_motor_commands[PITCH] = PWM_DIFF_BOUNDS;
 
-		if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] < -20000)
-			raw_actuator_struct->controller_corrected_motor_commands[PITCH] = -20000;
+		if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] < -PWM_DIFF_BOUNDS)
+			raw_actuator_struct->controller_corrected_motor_commands[PITCH] = -PWM_DIFF_BOUNDS;
 
-		if(raw_actuator_struct->controller_corrected_motor_commands[YAW] > 20000)
-			raw_actuator_struct->controller_corrected_motor_commands[YAW] = 20000;
+		if(raw_actuator_struct->controller_corrected_motor_commands[YAW] > PWM_DIFF_BOUNDS)
+			raw_actuator_struct->controller_corrected_motor_commands[YAW] = PWM_DIFF_BOUNDS;
 
-		if(raw_actuator_struct->controller_corrected_motor_commands[YAW] < -20000)
-			raw_actuator_struct->controller_corrected_motor_commands[YAW] = -20000;
+		if(raw_actuator_struct->controller_corrected_motor_commands[YAW] < -PWM_DIFF_BOUNDS)
+			raw_actuator_struct->controller_corrected_motor_commands[YAW] = -PWM_DIFF_BOUNDS;
 
 	}
 	else

quad/sw/modular_quad_pid/src/iic_mpu9150_utils.c

@@ -65,7 +65,7 @@ int startMPU9150(){
 	// Set clock reference to Z Gyro
 	iic0Write(0x6B, 0x03);
 	// Configure Digital Low/High Pass filter
-	iic0Write(0x1A,0x06); // Level 4 low pass on gyroscope
+	iic0Write(0x1A,0x06); // Level 6 low pass on gyroscope
 
 	// Configure Gyro to 2000dps, Accel. to +/-8G
 	iic0Write(0x1B, 0x18);

quad/sw/modular_quad_pid/src/log_data.c

@@ -143,7 +143,7 @@ void printLogging(){
 
 					);
 
-	strcat(buf,comments);
+	//strcat(buf,comments);
 	strcat(buf,header);
 	strcat(buf,units);