Project

General

Profile

Statistics
| Branch: | Revision:

root / mikrokopter / src / nav_lib.cpp @ 737bd480

History | View | Annotate | Download (1.95 KB)

# Date Author Comment
737bd480 04/15/2012 07:17 PM Thomas Mullins

Added altitude_node and node_control

node_control listens to /mikrokopter/thrust, yaw, and velocity, and
publishes control messages using nav_lib. altitude_node publishes to
/mikrokopter/thrust using PID_control on barometer values.

08b4f0df 04/08/2012 07:14 PM Thomas Mullins

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 has
enough thrust to get it off the ground.

84a809d3 03/04/2012 07:59 PM Nicolas

Modified nav_lib to cap input for set_velocity and set_yaw between -1 and 1. Also modified CoordToPID to pass timestamp to PID.

bc5901d3 02/19/2012 08:48 PM Thomas Mullins

Fixed params not loading correctly

7a6ed02d 02/17/2012 07:06 PM Thomas Mullins

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....

fd29b28e 01/27/2012 06:21 PM Priya

Tested velocity control and added yaw and throttle control to joystick.

bc4b408e 01/22/2012 06:23 PM Thomas Mullins

Added velocity_control to MikrocopterControl class, which was added to
work with joystick control. Takes forward and lateral speeds and
combines them to set pitch and roll.

d58012b5 12/01/2011 05:18 PM Chris Burchhardt

fixing forwards/backwards, adding level function

dd56aeef 11/20/2011 05:28 PM Thomas Mullins

Added ncurses for key input. It can now publish at a rapid rate because
the key input is non-blocking, and after it exits the terminal is not
screwy, but it's not an ideal solution because ROS_INFO no longer works.

Encapsulated the stuff in nav_lib into a class, MikrokopterControl.

493cca7c 11/19/2011 07:15 PM Chris Burchhardt

basic (not-yet-working) flight control via keyboard

da889457 11/19/2011 03:53 PM Thomas Mullins

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