Merge remote-tracking branch 'upstream/master' into fw_staging_ouputlimit_master

src/lib/ecl/l1/ecl_l1_pos_controller.cpp

@@ -190,7 +190,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c
 		float xtrackErr = vector_A_to_airplane % vector_AB;
 		float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f);
 		/* limit output to 45 degrees */
-		sine_eta1 = math::constrain(sine_eta1, -M_PI_F / 4.0f, +M_PI_F / 4.0f);
+		sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071
 		float eta1 = asinf(sine_eta1);
 		eta = eta1 + eta2;
 		/* bearing from current position to L1 point */

src/lib/external_lgpl/tecs/tecs.h

@@ -94,6 +94,11 @@ public:
 	// Rate of change of velocity along X body axis in m/s^2
 	float get_VXdot(void) { return _vel_dot; }
 
+
+	float get_speed_weight() {
+		return _spdWeight;
+	}
+
 	// log data on internal state of the controller. Called at 10Hz
 	// void log_data(DataFlash_Class &dataflash, uint8_t msgid);