Copter-3.4 beta testing start

@rmackay9 wrote:

Copter-3.4-rc1 should appear in the mission planner's "Beta firmware" link within a couple of hours of this post. All feedback welcome.

Changes from 3.3.3
1) EKF2 allows "boat mode" (attitude initialisation without gyro calibration)

2) Throw mode

3) Terrain following:
a) support terrain altitudes during missions using GCS's map data or rangefinder (i.e. Lidar)
b) LightWare range finder driver fixes (I2C works)
c) Bebop sonar support

4) Precision Landing using IRLock sensor

5) Attitude controller re-organisation (all parameter changes automatically moved and scales adjusted)
a) RATE_ parameters become ATC_RAT_ (i.e. RATE_RLL_P becomes ATC_RAT_RLL_P)
b) Rate Roll, Pitch, Yaw P, D are reduced by 10% for X, V, H frames, increased by 27% for all other frames
c) STB_ parameters becomes ATC_ANG_ (i.e. STB_RLL_P becomes ATC_ANG_RLL_P)

6) Motors library improvements:
a) support OneShot ESCs (set MOT_PWM_TYPE to 0 for Normal, 1 for OneShot or 2 for OneShot125)
b) TriCopter compensates for tail servo angle
c) SingleCopter, CoaxCopter adjust control surfaces based on throttle output
d) MOT_PWM_MIN, MAX allow specifying output ranges to ESCs which are difference from throttle input channel (i.e. RC3)
e) TradHeli servo objects moved into heli class (HSV_ parameters become H_SV_)

7) uAvionix Ping sensor support (ADS-B vehicles appear on GCS, avoidance will come in future release)

8) Safety:
a) warning if GPS update rate is slow (under 5hz, does not stop arming)

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