fixed a fuckup with yaw_rate that was caused by more 8bit leftover garbage
fixed althold vel/constrain typo thx Marcin
flight-tested this build on my shitcopter, CAREFUL flight testing may commence.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@428 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixed buzzer on rev5 boards;
added experimental gyro-based headfree boxes

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@429 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixing buzzer related compilation errors on OLIMEXINO target [by Dominic Clifton]
moved alignSensors from drv_system to utils
updating uvproj to keil5

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@431 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fix accZ/shake detection when copter upside down. oops.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@432 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
core.numRCChannels now set by RC drivers to show max inputs available.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@433 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
merged in mwii2.3 generic servo handler. completely untested.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@434 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
Softserial can now be enabled/disabled via the SOFTSERIAL feature switch in the command line. Softserial baud rate can be set via softserial_baudrate setting. Added input & output inversion support, use softserial_inverted setting by Dominic Clifton

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@435 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixing initializion for anglesrad[]
add drv_softserial to common drivers in Makefile

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@436 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
implemented MSP_MISC get/set to support 'SETTINGS' tab of mwcgui

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@437 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
Beginning of the great GPS unfucking.
* Proper initialization sequence framework for various supported GPS types. NMEA will now auto-detect its baud rate based on received frames.
* As a result of the above, gps_baudrate has been changed to enum, to only allow fixed rates. (GPS baudrate, -1: autodetect (NMEA only), 0: 115200, 1: 57600, 2: 38400, 3: 19200, 4: 9600)
* UBX binary initialization at any specified baudrate with auto-reconnect on signal loss.
* GPS thread to handle initialization, signal loss and configuration. No longer does GPS need to be powered before FC, and on GPS reconnect, it will be re-initialized if needed.
MTK NMEA/binary initialization is omitted for now, as I can't find my MTK GPS
GPS deltaTime can be calculated to display update rate.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@438 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
removed some double promotions that sneaked in, as well as replaced fabs() with float-only fabsf() version. trashed doubles from _atof(). Considering trashing that whole function for KEIL builds.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@439 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixed bug in task state machine introduced by re-adding gps thread. thanks to alu for catching it.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@441 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
corrected a bug that would cause motors to spin up after saving parameters in 3D mode, thx englishman.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@443 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
corrected mag task switcher for good this time

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@444 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added ability to specify arbitrary roll/pitch/yaw translation for board mounting by alu.
this allows to mount FC vertically/upside down/etc easily.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@445 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixed cli status command (thx alexk)
moved mpuscale into core struct since it's not a changeable setting

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@447 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
separate all telemetry code and add option to use softserial for telemetry.
to use, set softserial_baudrate=9600, softserial_inverted=1 and  telemetry_softserial=1
then enable feature TELEMETRY.
by disq


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@448 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
cleaning up some misc fuckups from msp handler

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@449 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixing servo output for flying_wing w/new servo reorganization

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@450 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
Properly set ADXL345 driver default orientation (thx enots)
Fixed compile error in i2c_soft driver which still used old GPIO init syntax.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@451 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61