Motor currents #34
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Motor currents #34
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…s. Position is now computed through the averaging of multiple GPS signals. Automatic combination of GPS and odometry. Very rudimentary approach. Parameters need to be determined theoretically or empirically and testing needs to be done. Improvements such as better approximation while turning should be added with relatively little effort.
…ed. MAVLINK message added for current sensors and tension data. Groundspeed added to MAVLINK message.
… untouched. GPS functions altered for testing purposes. Code not useable. Saved as important intermediary step.
…ed. gps averaging and timing aspects of odometry work without problem.
…ng, x-y-movement. Further testing, determination of values of constants and feedback loops remain.
…es as expected. Constants and units will have to be finetuned. Feedback loops and physical testing remain.
…xspect problem to be in navigation_get_position_xy.
…o or above 360 degrees no longer possible. xy not working.
…s. Some changes added to types concerning heading functions. COG heading incorporated.
…appear to be working. More rigorous testing required. Constant for wheel diameter corrected.
…er to reduce 'jumps'.
…appear to work when stationary. Code ready for testing on moving object.
…when testing. Needs testing.
…odometry functions and tested.
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