dagoodma/sdp — pull request #46 by ddeo (2013-04-12 08:52:38+00:00)
Title: updated rudder control to account for velocity. You can now tune the rudder controller in terms of velocity and proportional error.

...rt. Also, if the boat flips around 180 degrees off of its desired point, it will continue to turn in a direction until it reaches the desired heading.