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The qgroundcontrol version currently pointed to by MAVRIC is quite old (version 2.3.0).
I do have several issues with this version:

• It crashes often while sending waypoints to MAVRIC
• It crashes sometimes during waypoint navigation
• calibration widget is older in format for this version than for more recent versions

Should we update to a newer version and/or assure compatibility with this version?
I think it is good to have an official version which is 100% supported

If we update, to which version should we go?

Still refer to maveric instead of mavric

@jlecoeur, @mdouglas90 and I decided to rewrite the controller structure and replace stabilization copter with a flexible cascade controller structure.

Last idea, we provide a templated 'cascade_controller' structure containing a controller for each level and 'mode_' member variable indicating the highest active controller level:

Cascade_controller<Nav, Pos, Vel, Att, rate>
{
public:
    enum  mode_t {POS_MODE, VEL_MODE, ... }
    void update()
    {
           switch(mode_)
           {
                  case POS_MODE:
                            // do position control
          }
    }
private:
    Nav_ctrl nav_ctrl_;
    Pos_ctrl pos_ctrl_;
    Vel_ctrl vel_ctrl_;
    Rate_ctrl rate_ctrl_;
    Att_ctrl att_ctrl_;

    mode_t mode_;
};

However, I find there are some limitations to this approach:

• The cascade has a fixed number of levels: using more or less levels would require changing the structure
• The modes are explicitly listed: adding modes requires modifiying the enum
• The 'cascade_controller' needs to explicitly expose all 'set_xxx_command()' functions and relay the command to the corresponding controller level

Keeping in mind safety and flexibility, I propose a new approach, where each controller inherits from is underlaying controller level, hence exposing its set function. The challenge of this approach is that the update function has to execute the correct levels. You can find my suggestion here:
https://gist.github.com/basil-huber/4f9f4ff579948129c729f5b5e2fc95c3

So, what do you think?

The file Utilities/Atmel_headers/avr32-gnu-toolchain-3.4.2.435-linux.any.x86.tar.gz seems to be quite old and it no longer works with the existing version on Mavric autopilot. Hence it should be upgraded to a later version.

Here is the connection of PWMs on Mavrimini:
(copy pasted from lis-epfl/MAVRIC_Library#304)

It is not possible to configure 0, 1, 3, and 5 as DC motor controller (2000Hz PWM), and 2 and 4 as servo controller (50 or 200Hz PWM).
This is because PWM 1 and 2 share timer 3, and PWM 3 and 4 share timer 4, so they cannot be configured with different periods.

@GregoireH for next revision of mavrimini, is it possible to do like this ?

This way all DC controllers will have the same period, and the 2 other PWMs can have a period different from the 4 DC ones.

I think these lines should be in the code.
In cc34c4a I added the lines but commented them.

A more automatic solution would be to switch them on by a symbol than we could set in the Makefile.
This would allow to build the code with the lines by e.g. make config. The downside is a slightly more complicated Makefile and code. What do you think?