Why won't it compile? grrrrr
Try going back to makefile
tied up some of the function by adding extra functions, we might want to put these into a separate library file. Also a lot more variables have been made constants.
has Launched is used in PID so they need to be declared before PID is called.
red LED now lights when launch detected
Removed the MsTimer2 stuff as it broke the interrupts used by the I2C libraries.
Changed to use vector approach to motor movement.
Added a statement to check that the motor movement isn't above the maximum value, and scales the requirement if it is.
Updated matrix math library to include a a new normalize function that attempts to assign the errors in a more sophisticated manner than the simple normalize function. Also makes use of taylor expansion to avoid square root (how much of a saving is this?). Not sure which normalize function we'll end up using.
Removed unnecessary lines, when determining pitch and yaw values.
runs
servos move
something wrong with the pitch part
Merge pull request #9 from cuspaceflight/david_vector_control

David vector control