IR-LOCK: rework driver (from jschall) #5024
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Thanks! I just put these on master. |
rmackay9
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Jul 12, 2016
* irlock: change output format to tangent of angles * irlock: put all targets in single struct * irlock: eliminate tanf function in constant
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This PR is to push Jon's recent work in the ir-lock driver upstream.
The PR to the ardupilot fork of PX4Firmware can be seen here: ArduPilot#59. I'm sending it upstream so we can get any feedback from @LorenzMeier before pulling it into our fork.
This has been flight tested (by me) and reduces the lag in the ir-lock sensor which leads to improved landing.