Merge branch 'master' into dev

Makefile

@@ -104,7 +104,7 @@ multimon:
 static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H)
 
 usb_lib:
-	@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x $(ARMGCC) && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
+	@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x "$(ARMGCC)" && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
 
 $(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) tools
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)

conf/airframes/esden/lisa_m_pwm.xml

@@ -158,7 +158,7 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
+    <define name="BARO_SENS" value="3.3" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -167,14 +167,14 @@
    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
    <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="-500"/>
-   <define name="HOVER_KD"    value="-200"/>
-   <define name="HOVER_KI"    value="-100"/>
+   <define name="HOVER_KP"    value="-150"/>
+   <define name="HOVER_KD"    value="-80"/>
+   <define name="HOVER_KI"    value="-20"/>
    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
    <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.2"/>
+   <define name="INV_M" value ="0.21"/>
   </section>
 
 

sw/airborne/arch/stm32/mcu_arch.c

@@ -87,5 +87,12 @@ void mcu_arch_init(void) {
    /* Set the Vector Table base location at 0x08000000 */
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
 
+#ifdef STM32_FORCE_ALL_CLOCK_ON
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |
+                         RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD |
+                         RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE);
+#endif  
+
+
 }