31 Jan 2002 hudson   » (Master)

Release 2.1 of the realtime code came out on 27 Jan 2002. The major change was to smush all functionality into one file, mainloop.c that dealt with accelerometer sampling, UART handling, servo input, engine tachometer, ADC sampling and all that stuff.

Since the release, the latest version of mainloop.c has a sliding window averaging for the sensor values rather than the discrete time steps that it did before. This means that sensor data never gets "stale" as it used to, but it also means that the readings fluctuate more frequently. Comparison plots of the accelerometer before and after are online.

Tower Hobbies has discontinued the sale of the White man flying stand that I planned to use to teach the software how to hover the aerial robot. Does anyone know where I can find them? Other than eBay, that is.

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