- [ ] Add a Kalman/Complementary filter fusing IMU kinematics with BMP390 altitude to cancel Z-axis drift (Dependent on controls team) - [ ] PID controllers for Roll, Pitch, Yaw, and Throttle (Dependent on controls team) - [ ] Write dynamic thrust-vectoring mixer algebra to command landing servos relative to gyro vectors (Dependent on controls team) - [x] Add servo RTOS task - [x] Add software ESTOP, improve ground station UI - [x] Implement conditional checks on all logging paths to prevent empty data arrays from causing random crashes - [ ] Reconfigure thread management to reliably reintegrate IMU reads directly into the main control task - [ ] Add a heartbeat watchdog to kill all thrust if the ESP-NOW remote feed disconnects? (Is this a good idea?)
Add a Kalman/Complementary filter fusing IMU kinematics with BMP390 altitude to cancel Z-axis drift (Dependent on controls team)
PID controllers for Roll, Pitch, Yaw, and Throttle (Dependent on controls team)
Write dynamic thrust-vectoring mixer algebra to command landing servos relative to gyro vectors (Dependent on controls team)
Add servo RTOS task
Add software ESTOP, improve ground station UI
Implement conditional checks on all logging paths to prevent empty data arrays from causing random crashes
Reconfigure thread management to reliably reintegrate IMU reads directly into the main control task
Add a heartbeat watchdog to kill all thrust if the ESP-NOW remote feed disconnects? (Is this a good idea?)