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:
73:f6f378311c8d
Child:
74:d281aaef9766
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/new_changelog.txt	Mon Jul 30 16:48:48 2018 +0000
@@ -0,0 +1,69 @@
+/*
+    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
+        - commented out sdLogger().appendLogFile(current_state, 1);    //writing data
+        - commented out sdLogger().appendLogFile(current_state, 0);    //close log file
+        - reduced timer to 20 seconds for bench testing
+        - modified ConfigFileIO for rudder()
+        - added in getFloatUserInput function from newer code
+        - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes
+        - slowed down battery motor because it's silly fast at 30 volts (bench test)
+            * BCE gain is proportional 0.1 now 0.01
+        - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0
+            * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?)
+        - StateMachine changes for testing
+            * added keyboard_menu_STREAM_STATUS();
+            * added keyboard_menu_RUDDER_SERVO_settings();
+        - modified the zero on the battery position from 610 to 836
+        - BMM (batt) slope may be incorrect, seems low, currently 0.12176
+        - modified the zero on BCE from 253 to 460
+        - Pressure readings are wrong
+            * added readADCCounts() to omegaPX209 class to see channel readings
+            * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4()
+        - fixed rudderLoop to headingLoop from newer code
+    Modified FSG PCB V_1_2
+        - added init headingLoop to main
+        - added pitch and heading outputs to STREAM_STATUS
+    NOTE: Flipped motor controller output on connector side with battery mass mover (BMM)
+        - Motor direction was opposite the BCE motor (because of gearing) 
+        - BMM P gain is now positive 0.02 (from -0.10)
+    Modified FSG PCB V_1_3
+        - added timing code for interrupt that drives the rudder (testing with o-scope)
+        - PID controller replaced with newer version from 5/29 code branch
+        - StateMachine hanged style of variables to match convention in code
+    Modified FSG PCB V_1_4
+        - adc tests
+    Modified FSG PCB V_1_5
+        - IMU update
+        - Testing print outs
+    Modified FSG PCB V_1_6
+        - new BMM zero count of 240 (confirmed manually)
+        - new BCE zero count of 400 (confirmed manually)
+        - Modified emergency climb to go to position 10 on the BMM, not zero (almost relying on the limit switch)
+        - fixed keyboard input; including typing in the timeout (can enter exact times)
+    Modified FSG PCB V_1_7
+        - removed data logger references
+        - fixed bug where I was logging data twice in the interrupt code and the main file
+        - fixed bug where Multi-Dive sequence wasn't restarting (the counter used to get the current state was not reset)
+    Modified FSG PCB v_1_7C
+        - 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