Here's the latest mostly stable snapshot. Still need to update all
the documentation though:

OOMRM II Version 1.0 Changes (12/18/2005)
RTOS code seems fairly stable with eb500 module communication.
Probably many
Things I have forgotten, but among them are:
* NEW: Added playback of communication log. Haven't used in a
while, still needs a little work.
* NEW: Added CPU Utilization host/target (host RTOS has bug (I
believe overflow); I believe
this is a uC/OS-II problem; thus host always shows 100%
unless on a very slow machine.
* NEW: Added range sensor stimulation - allows simulation of waving
your hand in front
of sensor. triggers a sensor regardless of map content.
* Major rewrite of navigational core to eliminate most (all?) floats.
Probably not as accurate yet. System needs to be fine tuned still.
* BUGFIX: position gets corrupted if obstacle.
* BUGFIX: Import DXF display is incorrect.
* BUGFIX: The invariant systematic errors are not in shared memory!
* FEATURE: The invariant systematic errors are not stored in the
configuration file and reloaded on start.
* FEATURE: Position of invariant and simulant syncronize if you
restart from keypad.
* BUGFIX: download grid image is looks misaligned to occupancy grid.
* BUGFIX: Update of waypoint angle doesn't work.
* BUGFIX: Map download not working.
* BUGFIX: If the starting point = end point in A*, then it generates
a NO_PATH_FOUND error. (path < 2 I think).
* BUGFIX: After one full cycle of square, robot swings 180 degrees.
May have to be related to start==finish.
* FEATURE: After chaning a waypoint, the waypoint is deselected.

Derek