Problem, change haul without tacking ?
Little bug in initi_controller data for twd mean
Added robust_mean function
compute y-discrete position and take data from matrix
Changed names for window sizes params in QGC
Unfinished work
Load path planning completed, needs to be tested
Changed haul after tack if manual grid line. Added avg twd and apparent wind in telemetry
Fixed some important issue, tested indoor in tack with gird lines set by QGC and by Optimal path
Now you can switch between conditional PI and normal PI
Ready for test on the roof
Merge branch 'as_load_path_offline' into feature_autonomous_sailing