Roberto´s changes:
"No Hex unflown.
Hightdrop on exiting Autoland before completion *Fixed*
RC Change channelmapping *Fixed*
Changed behaviour of flying in PH - constant braking disabled, should be natural now.
Introduced gps_proj_smooth. This smoothingfactor is for the gps_lag projection. This factor is influenced by gps_ins_vel of course. gps_proj_smooth = 0 disables additional smoothing, if gps_ins_vel is conservative. May come in handy if gps_ins_vel is greater than 0.7(?)."
Roberto´s latest changes:
"No Hex unflown.
Same as Source130513-2150Uhr.zip except mag calibration.
mag_oldcalib = 1 does the old "hard iron" calibration
mag_oldcalib = 0 does now extended calibration i don't see a big difference in the result."
Roberto´s latest changes:
"**WARNING: DON'T START IN ALTHOLD!! TINY, STUPID BUG THERE! FIXED IN UPCOMING VERSION. ACTIVATING ALTHOLD IN FLIGHT IS NO PROBLEM. **
Hex included BUT UNFLOWN
Set PosP PosrP and PosrD yourself. Check out the revised Mag-Calibration.
MAG is completely on "floats" now. The old calibration is disabled by default (oldcalib = 0). "gps_proj_smooth" deleted seems to do no good. Don't set gps_ins_vel too high.
"scani2cbus" included in CLI (Thanks Johannes!)"
Roberto´s latest changes:
"!!! Just some code to look at !!!
Tried to implement an idea for sonar. Without Hardware connected. Also some changes in gps, mag, althold and i2cscanner. Everything untested.
!!! Just some sourcecode to look at !!!
Dont' fly this."
Roberto´s latest changes:
"!!! Just some code to look at !!!
Some logical errors in Sonar - Idea found and fixed, pretty shure more errors in Sonar part, have to solder hardware together..."
Roberto´s latest changes:
" !!! Just some code to look at !!!
Sonar althold a little bit altered, timeout 200ms for first sonar contact. (ToDo: Check tiltangle - only minor stuff) Changed autolanding a little, throttleanglecorrection disabled during autoland to prevent copter from going ballistic on land and tip over. Maybe autodisarm on upside down copter - didn't implement needs checking for false positive first.
One Sonar mega bug found that actually prevents me from testing.
Sonar Mega Bug: When selecting PWM5/6 for sonar, the quad mixer is not working any longer!!! OMG!! HELP !!"
Roberto´s latest changes:
"!!! Just some code to look at !!!
Mega Bug busted.
Sonar/Baro/Acc Fusion working :). Sonar seems DONE - but i am shure, there is always something :)"
Roberto´s latest changes + Makefile:
"!!! Just some code to look at !!!
Ha! Little bug in Sonar found that could lead to sudden spikes *fixed*.
Sonar code structure a little changed to make it easier to implement new sonar drivers (currently HC-SR04). Sonar/althold flight tested works but you must reduce the autolandrate, because with sonarcontact it will do a controlled but very quick landing... or increase the minimal hight for sonar, so the last 50cm or so are done just by baro, many combination possibilities.
set SONAR_Pinout = X(0) // 0 = PWM56, 1 = RC78, 2 = I2C (DaddyWalross)
set sonar_min = X(0) // Valid Sonar minimal range in cm (0-200)
set sonar_max = X(200) // Valid Sonar maximal range in cm (50-700)
set sonar_tilt = X(30) // Somehow copter tiltrange in degrees (not exactly) in wich Sonar is possible
set sonar_debug = 0 or 1 // 1 Sends Sonardata (within defined range and tilt) to debug[0] and tiltvalue to debug[1]
set cfg.baro_sonar_cf = X (0.9f) // The bigger, the more Sonarinfluence, makes switch between them smoother and defines baroinfluence when sonarcontact. 1.0f just takes Sonar, if contact (otherwise baro)"
Merge branch 'master' of https://github.com/slashphotos/harakiri into robexperimental

Conflicts:
	Makefile
Roberto´s latest changes: " !!! Just some code to look at !!!
Finally Sonar is done. At least i consider it done. The spikes eliminated by rewriting sonar interrupt. Reworked Maxbotix support. Implemented detection and correction of user/configuration - errors. This sonar code is a very solid basis now and will blend into your baro acc/fusion. Reduce the autolandrate, because with sonarcontact it will do a controlled but perhaps too quick landing. Feel free to use that for perhaps further dev-work. Look in config.c for further details. For me it's done and will proceed with GPS functions and look at meisters great mavlink implementation!"
Roberto´s latest changes: "** Warning! I could produce an alarmstart in althold start - LOL really surprised me - fixed in next version - coming today ***
Hi! This Version is partly tested and should not kill you. So Hex included. A lot of changes and improvements. Please look in config.c for details."
Roberto´s latest changes: "Partly tested.
Hopefully alarmstartbug fixed (anyway, i couldn't reproduce it. :)..)
My crappy RC had too less deadband so PH didn't actually lock in. Separate PH deadband in the works.
Like always careful testing!"
Merge branch 'master' into robexperimental

Conflicts:
	obj/baseflight_NAZE.hex
	src/cli.c
	src/serial.c
Merge branch 'master' of https://github.com/slashphotos/harakiri into robexperimental

Conflicts:
	obj/baseflight_NAZE.hex
	src/board.h
	src/buzzer.c
	src/config.c
	src/drv_adc.h
	src/drv_adc_fy90q.c
	src/drv_adxl345.c
	src/drv_adxl345.h
	src/drv_bmp085.c
	src/drv_hcsr04.c
	src/drv_hcsr04.h
	src/drv_hmc5883l.c
	src/drv_i2c.c
	src/drv_i2c_soft.c
	src/drv_l3g4200d.c
	src/drv_ledring.c
	src/drv_ledtoggle.c
	src/drv_mpu3050.c
	src/drv_mpu6050.c
	src/drv_ms5611.c
	src/drv_pwm.c
	src/drv_pwm.h
	src/drv_pwm_fy90q.c
	src/drv_system.c
	src/drv_uart.c
	src/gps.c
	src/imu.c
	src/main.c
	src/mixer.c
	src/mw.c
	src/mw.h
	src/printf.c
	src/sensors.c
	src/serial.c
	src/spektrum.c
	src/telemetry.c