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Update flight controller #55

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Update flight controller #55

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yameatmeyourdead
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@yameatmeyourdead yameatmeyourdead commented Feb 22, 2025 •
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See #52 for original discussion

@yameatmeyourdead
Use Fossen's Marine Handbook Equations
4350580 
rewrites pretty much everything. Simple controller should still work.
PCA9685 needs to be refactored:
 I don't like the registering system anymore
@yameatmeyourdead
use correct timing with OSR, pressure now in kPa
0ff8646
@yameatmeyourdead
First iteration of depth PID controller
b6028ef 
other controllers started but not finished
update simple transfered over from previously working implementation
squash some bugs in rov_control
@yameatmeyourdead
Fix compilation error, remove heap memory when stack works fine
02aa09a
@yameatmeyourdead
explicit type for std::chrono duration rather than relying on default
93ce7b1
@yameatmeyourdead
ensure data structs are zeroed.
9d2e2c9 
implement 2 second control delay on rov start
@yameatmeyourdead
all but pwm publishing and subscribing to sensors
257baf0
@yameatmeyourdead
init commit of big rewrite
5a30c23
@yameatmeyourdead
first go around at implementing cascading PID with better general fli…
a33619e 
…ght controller architecture. it compiles.
@yameatmeyourdead
removed old files from compiling. removed goto with some smarter logic.
4315ab9
@yameatmeyourdead yameatmeyourdead added the enhancement New feature or request label Feb 22, 2025
@yameatmeyourdead yameatmeyourdead linked an issue Feb 22, 2025 that may be closed by this pull request
Actually finish the flight controller #52
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Actually finish the flight controller
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@yameatmeyourdead @Hermanoid