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 :)"