From 2735df29ed416c518515a4cf15560048a629c0bc Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sun, 18 Sep 2016 17:37:58 +0100
Subject: [PATCH 1/3] Prevent incorrect rescheduling for BMP280 baro dummy
 ut_delay (#612)

(cherry picked from commit 79fdc6d3922ed75ca5732436c6517db279558f4c)
---
 src/main/fc/mw.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index 87aee6acb..ab7ed7a58 100755
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -726,8 +726,10 @@ void taskUpdateCompass(void)
 void taskUpdateBaro(void)
 {
     if (sensors(SENSOR_BARO)) {
-        uint32_t newDeadline = baroUpdate();
-        rescheduleTask(TASK_SELF, newDeadline);
+        const uint32_t newDeadline = baroUpdate();
+        if (newDeadline != 0) {
+            rescheduleTask(TASK_SELF, newDeadline);
+        }
     }
 
     //updatePositionEstimator_BaroTopic(currentTime);

From 1f20ba9f73f00d85ced129b4978d2f9ce1910909 Mon Sep 17 00:00:00 2001
From: Konstantin Sharlaimov <konstantin.sharlaimov@gmail.com>
Date: Wed, 7 Sep 2016 15:52:56 +0300
Subject: [PATCH 2/3] Bump version to 1.2.1 (#570)

(cherry picked from commit 61060a45ec8dec2dd061976e65b0052a7aacde1f)
---
 src/main/build/version.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/build/version.h b/src/main/build/version.h
index dccace5e7..9b755e612 100644
--- a/src/main/build/version.h
+++ b/src/main/build/version.h
@@ -17,7 +17,7 @@
 
 #define FC_VERSION_MAJOR            1  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            2  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL      1  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)

From a3a5b7193e10d3bdad51d12d911a1a2e4484a73d Mon Sep 17 00:00:00 2001
From: Konstantin Sharlaimov <konstantin.sharlaimov@gmail.com>
Date: Sun, 18 Sep 2016 21:11:31 +0300
Subject: [PATCH 3/3] Make sure self-leveling is completely disabled above
 transition point (#608)

(cherry picked from commit 8b895b234db402aee3d788e38217ef304c176a60)
---
 src/main/flight/pid.c | 23 ++++++-----------------
 1 file changed, 6 insertions(+), 17 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b6a47af4f..9cbdc04fe 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -219,33 +219,22 @@ static void pidApplyHeadingLock(const pidProfile_t *pidProfile, pidState_t *pidS
     }
 }
 
-// Value derived from LibrePilot:
-//   we are looking for where the stick angle == transition angle
-//   and the Att rate equals the Rate rate
-//   that's where Rate x (1-StickAngle) [Attitude pulling down max X Ratt proportion]
-//   == Rate x StickAngle [Rate pulling up according to stick angle]
-//   * StickAngle [X Ratt proportion]
-//   so 1-x == x*x or x*x+x-1=0 where xE(0,1)
-//   (-1+-sqrt(1+4))/2 = (-1+sqrt(5))/2
-//   and quadratic formula says that is 0.618033989f
-#define STICK_DEFLECTION_AT_MODE_TRANSITION 0.618033989f
 static float calcHorizonRateMagnitude(const pidProfile_t *pidProfile, const rxConfig_t *rxConfig)
 {
     // Figure out the raw stick positions
     const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
     const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
-    const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
+    const float mostDeflectedStickPos = constrain(MAX(stickPosAil, stickPosEle), 0, 500) / 500.0f;
     const float modeTransitionStickPos = constrain(pidProfile->D8[PIDLEVEL], 0, 100) / 100.0f;
 
-    float horizonRateMagnitude = mostDeflectedPos / 500.0f;
+    float horizonRateMagnitude;
 
-    if (horizonRateMagnitude <= modeTransitionStickPos) {
-        horizonRateMagnitude *= STICK_DEFLECTION_AT_MODE_TRANSITION / modeTransitionStickPos;
+    // Calculate transition point according to stick deflection
+    if (mostDeflectedStickPos <= modeTransitionStickPos) {
+        horizonRateMagnitude = mostDeflectedStickPos / modeTransitionStickPos;
     }
     else {
-        horizonRateMagnitude = (horizonRateMagnitude - modeTransitionStickPos) *
-                               (1.0f - STICK_DEFLECTION_AT_MODE_TRANSITION) / (1.0f - modeTransitionStickPos) +
-                               STICK_DEFLECTION_AT_MODE_TRANSITION;
+        horizonRateMagnitude = 1.0f;
     }
 
     return horizonRateMagnitude;