Allowing throttle to be down during autonomous.

- uses virtual quad

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

Shuffled around #include dependencies to allow the control algorithm diagram to be generated without copying code out of control_algorithm.c

Added ability to get/set PID constants. Passes regression tests, and is backwards-compatible. Does not support setpoints, because they will be set via a different interface

- removed every use of the "subtype" term
- made the "type" term 16 bits
- made sure that every reference to a message type is 16 bits and used correctly
- simplified commands enum names
- implemented setcontrol callback function that switch on the controller and P, I, D, setpoint value to be set and then set them
- partly implemented getcontrol callback function
- NOTE: setpoint is a double. this causes some problems..
- TODO: add setpoints for rate controllers
- TODO: figure out what message ID I should send back when I get a getpid command

jpbush authored 8 years ago and dawehr committed 8 years ago

also reorganized the ordering of the commands in commands.c
added a enum for message types and subtype but this will get removed on the next commit

It now works on the quadcopter. Messages weren't being processed in protection loop before

Fixed issue with UART timeout interrupt not firing. Added BENCH_TEST mode for testing communication.

Integrated changes from comm_dev (interrupt-driven UART) and updated code to work well with the new style. Compiles, but have not tested running yet.