Piccolo Software Release 2.1.1.d

[DM]

Software version 2.1.1.c has been updated to the 'd' release.  Release notes are below.

Changes for the piccolo system software from version 2.1.1.c (12/11/2009) to version 2.1.1.d (2/4/2010)

Fixed wing generation 2 and 3 autopilot firmware bug fixes:
1) When an automatic landing abort was performed the number of waypoints that the autopilot would skip during the go around was off by one.  This was not a problem for wheeled, belly, and glider landing types, but can cause unpreditable go arounds with the net landing type.  This has been fixed.
2) When updating an automatic landing plan, while the autopilot was currently flying that plan, the update would not be applied until the autopilot made its next waypoint switch.  This has been fixed.
3) When performing gimbal steering the autopilot was not sending the request packet to tell the TASE gimbal to provide the high rate guidance information.  This prevented gimbal steering from working.  This has been fixed.

Fixed wing generation 2 and 3 autopilot firmware new features:
1) If the touchdown or short final waypoint are changed while the vehicle is on short final a landing abort is automatically executed.  This is to prevent a case where the vehicle has already committed to land, but the user updates the land plan.  By aborting the landing the autopilot is forced to fly the approach again and re-pass the decision point.
2) Tube launch is now subject to the launch inhibit flag.
3) When performing gimbal steering an abort command will cancel the gimbal steering mode

Fixed wing generation 3 autopilot firmware new features:
1) A minor adjustment was made to the default airspeed control gains to make them less agressive.

Piccolo Command Center bug fixes:
1) Changed how bread crumbs are drawn on the map when in 2D mode.  They are now forced to be drawn at ground level, like the flight plan, so that the perspective of the map display does not affect the horizontal positioning when in 2D map mode.
2) Bread crumbs are now displayed on the map as a function of distance rather than time.  This corrects display problems when replaying at faster or slower than real time.

Strip chart plugin bug fixes:
1) Euler rates were not calculated correctly, this has been fixed.