Quadrotor

Revision 7a6ed02d

Major changes in mikrokopter for lost connection

-In nav_lib.cpp, added main_loop, so we don't have to keep rewriting it
:). Also, this now publishes to /mk_wrapper/control, which should be
used from now on. However, old publish_on still works as it did.

-Changed turn_to_target and joystick_control (but not any others yet) to
use new nav_lib main_loop.

-Added mk_wrapper, which simply copies messages from /mk_wrapper/control
to /mikrokopter/req_set_control. After recieving the first message, if
it receives no message for a period of 200ms (rosparam max_quiet_time),
it will instead publish 0's and a thrust of 60, ignoring all future
input until restarted.

-Added launch files onboard.launch and joystick.launch, so that we
remember what should run where and can easily set some parameters.

    void set_thrust(float thrust);

    void set_yaw(float yaw);

    void publish_on(ros::Publisher& pub);

    void main_loop();

private:

    mikrokopter::Control control;

    ros::NodeHandle nh;

};

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