From: Keith Packard <keithp@keithp.com>
Date: Mon, 18 May 2009 05:24:53 +0000 (-0700)
Subject: While on the pad, zero out velocity every second
X-Git-Tag: 0.3~2
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=69616104813fc5ba89fb3128d04fb9328961c59c;hp=69616104813fc5ba89fb3128d04fb9328961c59c

While on the pad, zero out velocity every second

We integrate acceleration to get velocity, but that means sitting on the pad
for a long time can add substantial error to the velocity value. Each
second, take the velocity value from a full second ago and subtract that out
of the current velocity. Once we detect boost, this will stop, which means
that as long as we detect boost within a second, we won't have subtracted
out any "real" velocity.

This keeps the pad velocity hovering around zero, which is pretty useful.

Signed-off-by: Keith Packard <keithp@keithp.com>
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