0.2 BETA and a simulator setup have been published HERE
So, here it is; one more BETA of NXT AutoPilot.
I didn't have the time to do enough testing during the holidays so this is still going to be a BETA version instead of the non-BETA I promised. However, I caught some very nasty bugs in the stabilization loop and added some nice functionalities.
// -Fixes in 0.1:
// -Added variance (gyro vs. accelerometer) based coefficient for gyro drift fixing.
// -Fixed some crucial GPS errors.
// -Everything is now based on PID controllers (even yaw).
// -Still not using compass or barometer although the device driver for compass is still there
// if you don't mind some home brewing..
-Navigation still assumes GPS co-ordinates to be co-ordinates on a flat surface. Introduce ball geometry..
-I'm planning to buy a 3D Bluetooth GPS so alternate device driver and control loops are needed.
Hopefully someone finds this useful..
NXT AutoPilot v0.1b.zip WARNIGN:
This version of the auto pilot is out dated!