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.
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.
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.
Modified nav_lib to cap input for set_velocity and set_yaw between -1 and 1. Also modified CoordToPID to pass timestamp to PID.
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.
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....
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.
Arduino now reads 2 sonars and publishes
It publishes to /range_up and /range_down, from pins A0 and A1.
Added mikrokopter/arduino, which uses rosserial
It currently runs on an Arduino Uno, and successfully gives data back tothe computer over USB. With a few changes (one specified in the README,the rest minor changes to CMakeLists.txt) it should run on the Pro...
Tested velocity control and added yaw and throttle control to joystick.
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 velocity_control to MikrocopterControl class, which was added towork with joystick control. Takes forward and lateral speeds andcombines them to set pitch and roll.
auto-level in mikrokopter keyboard control
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
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 libserial0 to rosdep.yaml -- not 100% sure this is needed, but this is what's been running on my machine, and it works...
Merge branch 'master' of ssh://roboclub.org/home/svn/quadrotor
adding simple app to make the quadrotor fly forwards a bit
Added rosdep.yaml, to prevent future annoyances with libserial.
moving mikrokopter code from quad1 folder to root dir