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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.
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....
Wrote mikrokopter/turn_to_target
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.
Added joystick_control node, with a skeleton of a JoystickControl class,modeled after the keyboard_control node. Eventually it will takemessages from joy_node and call velocity_control in MikrokopterControl.At the moment, it compiles but does nothing.
Added ncurses for key input. It can now publish at a rapid rate becausethe key input is non-blocking, and after it exits the terminal is notscrewy, but it's not an ideal solution because ROS_INFO no longer works.
Encapsulated the stuff in nav_lib into a class, MikrokopterControl.
basic (not-yet-working) flight control via keyboard
Added a keyboard control node.
The new file, keyboard_control.cpp, mimics the turtlesim keyboard reading. It responds to wasd, arrow keys, and "rf" (for up/down), and right now simply outputs ROS_INFO to show what was pressed.
Created nav_lib.cpp/h, with functions forward, backward, left, right,and stop to set the mikrokopter's movement direction.Replaced code in wasd_nav.cpp's main with forward(pub) and stop(pub)from nav_lib.cpp.Added nav_lib.cpp to CMakeLists.txt
adding simple app to make the quadrotor fly forwards a bit
moving mikrokopter code from quad1 folder to root dir