History | View | Annotate | Download (1.28 KB)
Tested velocity control and added yaw and throttle control to joystick.
Added velocity_control to MikrocopterControl class, which was added towork with joystick control. Takes forward and lateral speeds andcombines them to set pitch and roll.
fixing forwards/backwards, adding level function
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
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