So I had this great idea to unify all the sensor code into one great whole. The ideal way to do it is with C++, but I didn't want to convert everything at this late date, so my great idea was to use function pointers and fake objects.
Ten hours later, it still isn't working. :(
When I get it back, I need to quit screwing around and actually write a control loop. Yaw control at less than full thrust would be great. I also need to put the IMU as a plain passenger on the helicopter and see how noisy the chopper is.
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