Supervisor is working

The supervisor for my autopilot is working. This is a fairly critical piece that runs on the AVR I/O board and handles the handover between the manual remote, the autopilot, and any safeties.

This means I have:

• Multi-channel PWM input from the RC receiver.
  • A link with the Go based, BeagleBone hosted pilot that receives demands.
    • A state machine that handles remote to pilot handover.
      • Throttle shutdown on remote loss, pilot loss, and resume on low throttle.
        • And indicators for all.
        There’s many hacks, like using polling instead of triggering on an input cycle, but it’s getting closer to being safe to try on the real car.