Changes

One more fix to the PVG settings window

I noticed when flying a rocket with PVG, that during the final stage's
burn the stage stats in the PVG settings window disappeared. When the
'last stage' is equal to the first stage in the Δv stats window, it
should be shown.
 (commit: f75a7d4)

Make bettercontroller obey turning rate limits

replaces #2013

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: a3d2067)

Add soften tunable to better controller

This allows the angular velocity to overshoot the target angular
velocity (by about 10%) and still be able to decelerate to hit
the target.

Setting to 1.0 will restore the previous behavior.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 2ea5399)

Set default for soften down to 0.7

In testing with stock, this reduces overshoot to better than the
hybrid controller, while still slewing faster and settling faster.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 82629c4)

Slightly stiffer bettercontroller tuning

By using the new soften parameter, the position PID can be a bit
stiffer, to reduce deviations during atmospheric flight, without
causing a lot of overshoot.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 900a99c)

Fixes the PIDLoop2 derivative computation

It should work now to do something other than a PI controller
in the BetterController.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 0107fe5)

More BetterController tweaking

Velocity PID is back to P-only and position PID has a lot more
integral action.  This is probably close to ideal performance without
gain scheduling based on the gimbal response rate.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: d65f0e9)

v2.15.1
 (commit: f22907b)