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.

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.

Properly setting sampling time for altitude PID with LiDAR. Fixed HW impl tests for lidar_t changes.

2. Switched to level 5 IMU filter
3. logging setpoints
4. Logging for up to 5 minutes
5. Also accounting for time spent during logging when calculating LOOP_TIME
6. Logging during manual mode now, too.

Fixed bug with logging. Was accidentally writing rows by 4 rather than by 1, and would write beyond the limits.
Also properly initializing the initial value of the hw_unix_timer so Valgrind doesn't complain.

This reverts commit d2594903.

char arrays are still statically allocated, but will be truncated if trying to print more to them than space available, rather than just writing to random memory.

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