Changed goal in altitude_node to be current height when enabled.
Added PID subscribers to altitude_node
This should make testing at least a little easier, until we come up witha better way. Also, moved joystick_control.launch to where it could beseen globally by ROS.
Added ability to change constants in PID_control
Minor changes in preparation for test flight.
-Added parameter default_goal to altitude_node-Changed joystick button for toggling altitude control to button 11 instead of 1.
Nevermind... didn't need those
Adding some files to arduino so it compiles
These files are generated by rosserial, but they don't need to beregenerated by everyone, and I don't remember now how to generate themanyway.
Moved mikrokopter to quad2
Added blob_image back to opencvdetect
Added joystick_node for the new node_control system
It can also enable/disable altitude_node's thrust messages, and publishits own instead.
Moved mikrokopter package one folder deeper
The packages arduino and altitude_node aren't found inside anotherpackage directory, so this way they're both found and the repo is alittle more organized.
Fixed segfault in opencvdetect
Added cvblobs8.3 to repo so that opencvdetect can compile
Added /altitude_node/enable topic to disable PID
Also, added node_control.cpp and Velocity2D.msg, which should have beencommited before but apparently weren't.
Merge branch 'master' of ssh://roboclub.org/home/svn/quadrotor
Now it seg faults but compiles, please check this out if you can help.
Added altitude_node and node_control
node_control listens to /mikrokopter/thrust, yaw, and velocity, andpublishes control messages using nav_lib. altitude_node publishes to/mikrokopter/thrust using PID_control on barometer values.
Improved the README in mikrokopter/arduino
Changed max thrust in nav_lib and set thrust to 0 in mk_wrapper
Tested joystick_control with the quadrotor, and it works! And it now hasenough thrust to get it off the ground.
Merge branch 'debugging' of ssh://roboclub.org/home/svn/quadrotor into debugging
Changed max thrust in nav_lib
removed bin, build folders from git
Merge branch 'master' into debugging
Added all temporarily
Added files, changed it, still getting a bad executable error.
Edited and so it works, with the exception of now losing all of the CBlobResults includes when linking. I'm going to figure that out next.
Changed rviz target to publish constantly
Added vision test photos from fence at noon.
Changed the names of the files in an array-friendlier way, also so they won't have conflicts with people trying to add theirs seperately. The 13 here were taken in the robotics club.
I added screenshots of the images from inside the robotics club. I am going to rename them now, as I just realized I had forgotten to.
Modified nav_lib to cap input for set_velocity and set_yaw between -1 and 1. Also modified CoordToPID to pass timestamp to PID.
Added a time thing to PID control
Created file CoordToPID. It takes the simulates coordinates from Tom's simulator and plugs them into Priya's pid to come up with mikrokopter controls.
tested pid_control and fixed it. added the test file for future reference
fixed a semicolon
Fixed callback problem using std::bind
Still some TODO's.
Added a way to spoof target position.
It's an rviz interactive marker which can be controlled by the mouse,and which will publish 3d target positions. There are still some TODO'sin src/rviz_interactive_target.cpp.
changed a few things, tested, and now it outputs a sensor_msgs::point so that the control group can use it. We still need to figure out a target HSV value so that we can use that to test.
Wrote pid control stuff...untested.
Fixed params not loading correctly
Fixed problem in joystick.launch
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 beused from now on. However, old publish_on still works as it did....
Removed build files from repository
Y U COMMIT BUILD FILES?!!1!
It subscribes to /v2v3_converter/target_3d, and publishes yawproportional to the angle of the target in the horizontal plane. It mayuse the wrong axes and/or turn the wrong way.
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