• Jeroen Vreeken's avatar
    First set of readability and code improvements · 9165acfb
    Jeroen Vreeken authored
    -Safety blocks have some names changed
    -Setpoint generator is redesigned.
     +No longer 'unitless' with 'd' as derivative, but physics names (x, v, a, j)
     +Removal of 'mirrored' code.
     +improved tracking at high speeds
     +Addition of 'precision' parameters to limit numerical noise
    9165acfb
dt_az_safety.c 11 KB