The code to this point has been tagged as v1.0 so we can distinguish it from any new code as the "working" version. There are still several bugs that need to be fixed, and improvements are required for most controllers.
Our major bugs is the motor controller crashing.
At this point, the AI is quite naive but allows us to execute missions. The state machine has been tested to work nicely. It's the mission control what needs work. The only navigation controllers currently programmed are the Depth and Heading controller. In this version the Heading controller is NOT being used.