Added Zd control
Added mode selector to RC command, added mode function to controller
Fix mode control
Merge branch 'another_new_brach_for_ming_to_test' of https://github.com/ming6842/firmware into adding_more_and_more_brain_to_it
Cached commit
Added PID_Z controller, wating for test
Minor gain change
magnetometer is functioning, not yet scaled
Magnetometer is now working with scaled function
Structuralized PID initialization, checked magnetometer, altitude is working
Created trigonometry structure and merged
3D magnetometer compensation is finished
Calibrated magnetometer offset, 3d heading is now working
Added LEA-6H GPS receiver interrupt routine
Replace pointer with memcpy
Fixed pointer bug and added delay to imu calibration
added Mars and Saturn orbital compensator to heading control.
Using minimize energy function
Trying to clear the orbit of Uranus out of our way!
Bounded PID_yaw_rate, defined max/min, cascaded control to heading
Stablized vertical control PID gain