most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

Revision:
74:d281aaef9766
Parent:
73:f6f378311c8d
Child:
75:92e79d23d29a
--- a/new_changelog.txt	Mon Jul 30 16:48:48 2018 +0000
+++ b/new_changelog.txt	Tue Aug 14 21:06:48 2018 +0000
@@ -1,4 +1,3 @@
-/*
     Modified FSG PCB V_1_1
         - Freezes when doing a dive or any timed sequence (commented out SD card references)
         - commented out sdLogger().appendLogFile(current_state, 0);     //open SD file once
@@ -50,20 +49,18 @@
         - fixing a bug with the data transmission (output had newline character) because of packet lengths
         - new version blasts data and Python program requests lost packets, dramatically faster over USB, slightly faster over XBee
         - fixed some format and terminal errors
-*/
-
-
-Fixed callback thing on linear actuator
-
-"callback" added before this, ticker thing
-
-
-    float depth_freq = depthLoop().getFilterFrequency();
-    float depth_deadband = depthLoop().getDeadband();
-    
-    pitch
-    
-    
-    
-    pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
-    DEPTH TOO
\ No newline at end of file
+    Modified code 2018-08-06
+        - fixed bug with heading save feature, wasn't updating deadband properly
+        - modified input on servo sub-menu
+    Modified code 2018-08-07
+        - Float broadcast changed to command rudder to center in that state (whatever center is in the file)    
+        - Was sending the wrong command to the position dive (BMM)
+    Modified code 2018-08-14
+        - Fixed the deadband on "case Float_Broadcast" so it exits properly, I was seeing the BCE stop around 317 so I made a fixed deadband of 4.0 (anything 316 or above will exit the state)
+        - FIND_NEUTRAL was code was double-checked:
+            1) Starts with an offset of 25 mm from the manually found neutral BCE position (still buoyant), BMM starts at that neutral position
+            2) case NEUTRAL_SINKING: Every 5 seconds it retracts the BCE 5 mm.  When it reaches the input depth setpoint it switches to NEUTRAL_RISING
+            3) case NEUTRAL_SLOWLY_RISE:  Every 5 seconds it extends the BCE 2 mm.  When it starts to rise (depth rate is negative) (depth rate positive is sinking, negative is rising) it will immediately stop
+             and go to case NEUTRAL_CHECK_PITCH.  Removed an incorrect line of code that was setting BCE position with depthloop output.
+            4) case NEUTRAL_CHECK_PITCH: Every 10 seconds the pitch is adjusted +/- 0.5 mm depending on whether the nose is pitched up or pitched down
+                 (the timing is because the PV may move around in the water before it stabilizes)
\ No newline at end of file