Added #defines for using optical flow vs. VRPN and using integrated gyro for yaw. Updated Gyro Z bias. Changed some sensor processing regarding optical flow.

Reverting first setpoint for autonomous back to current position. Was swtiched to (0, 0) for optical flow.

resolves #16

- use shared memory instead of fifos for most I/O
- re-enable functional tests

dawehr authored 7 years ago and dawehr committed 7 years ago

Optical flow data is being polled, part of the graph, and being logged now. It is not used for flight.

Moved yaw correction to its proper location (between velocity PID output and before pitch/roll PID input).
Eliminated leftover graph_add_node_SpecificTypeHere() functions.

Added define for USE_LIDAR. Lidar is still polled and the node is updated, but it is not used for altitude control by default.