More work - still not quite working, but save-gaming.
Sort of working now. Still need to deal with "unique solution for intercept" issues.
About to change to new linear-planner-3d.
Getting even closer to working, now with linear planner 3d.
Committing now -- about to replace MPC with SSC
OK, I think I have the single-step controller working :-)
Added a "mono" linear planner, which only allows for acceleration in one direction,
and also added a suite of tests. This commit isn't quite working at the moment.
Added more tests and fixed more bugs - working pretty smoothly now.
Working pretty well now! :-D
Commit before diving into online model parameter learning.
Added the OnlineLearner class.
Remove unused classes
Make the control more "World" centric (now, the Controllers aren't aware of the
simulated quad), and also make the calculations faster via various easier
optimizations.
Refactor Quad somewhat: break up different aspects into there logical
units, etc.
Updates to the interface to make it work properly again.
Started work on adding hardware device support.
Added hardware files (haven't tested yet).