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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.
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.
Modified nav_lib to cap input for set_velocity and set_yaw between -1 and 1. Also modified CoordToPID to pass timestamp to PID.
Fixed params not loading correctly
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....
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