Roberto´s latest changes:
"Partly tested. Looking good.
Many changes. MS Baro driver and initialization changed and precision slightly improved. Reworked the "D" part of PH with a different filter and eliminated the deadband - please check this. Reworked the PH engagement and settlement (even when called from RTL) PH move could be done but i think its safer to have the possibility to override ph with the sticks at any time. The variable gps_lag just does actually a projection of the stopping point ahead. Just think of it like a factor not seconds, try out gps_lag = 10. Autoland improved with debouncing. You can change the disarming time (even seperately if you have a sonar) etc. Please look at config.c for details. Default GPS Pids taken from Hinkel - thanks for posting them!
Meister: I2C dump is a cli option again...
Sonar: 99.9% working & implemented, 0.1%: Daddywalross homebrew I2C Sonar not tested."
Roberto´s latest changes:
"STUPID MAG - BUG FINALLY FOUND AND FIXED!"