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# Date Author Comment
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.

1b7b0c69 03/04/2012 07:13 PM Priya

Merge branch 'master' of ssh://roboclub.org/home/svn/quadrotor

7741ab09 03/04/2012 07:12 PM Priya

Added a time thing to PID control

393f899e 03/04/2012 06:17 PM Nicolas

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.

71780e9c 03/04/2012 06:05 PM Priya

tested pid_control and fixed it. added the test file for future reference

901514c8 03/04/2012 05:39 PM Priya

fixed a semicolon

3f8dea88 03/04/2012 05:38 PM Priya

Merge branch 'master' of ssh://roboclub.org/home/svn/quadrotor

bb70c69d 02/28/2012 12:01 AM Thomas Mullins

Fixed callback problem using std::bind

Still some TODO's.

91a0bfa9 02/27/2012 10:26 PM Nick Stanley

Commented code!

643083a8 02/26/2012 08:53 PM Thomas Mullins

Added a way to spoof target position.

It's an rviz interactive marker which can be controlled by the mouse,
and which will publish 3d target positions. There are still some TODO's
in src/rviz_interactive_target.cpp.

f3966b0d 02/26/2012 08:26 PM Nick Stanley

changed a few things, tested, and now it outputs a sensor_msgs::point so that the control group can use it. We still need to figure out a target HSV value so that we can use that to test.

a6ca8c2b 02/26/2012 07:01 PM Priya

Wrote pid control stuff...untested.

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

Fixed params not loading correctly

480be65b 02/19/2012 05:52 PM Thomas Mullins

Fixed problem in joystick.launch

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....

57ed459f 02/15/2012 10:39 PM Thomas Mullins

Removed build files from repository

Y U COMMIT BUILD FILES?!!1!

13b764cd 02/15/2012 08:53 PM Thomas Mullins

Working more.

06a5548b 02/15/2012 07:15 PM Thomas Mullins

Wrote mikrokopter/turn_to_target

It subscribes to /v2v3_converter/target_3d, and publishes yaw
proportional to the angle of the target in the horizontal plane. It may
use the wrong axes and/or turn the wrong way.

06738945 02/14/2012 02:42 PM George Stanley

The code compiled! Now to make sure everything does what it's supposed to do.

b1055c82 02/12/2012 06:28 PM Thomas Mullins

Nick made some changes to make it compile.

880aeb43 02/12/2012 05:15 PM Nick Stanley

Edited the v2v3 converter file

6499f09b 02/09/2012 08:16 PM Thomas Mullins

Arduino now reads 2 sonars and publishes

It publishes to /range_up and /range_down, from pins A0 and A1.

58d82c77 02/09/2012 07:46 PM Thomas Mullins

Added mikrokopter/arduino, which uses rosserial

It currently runs on an Arduino Uno, and successfully gives data back to
the 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...

05e1c990 02/06/2012 04:48 PM Thomas Mullins

Fixed immediate runtime error

Moved the TransformListener initialization into the target_cb, so that
it wouldn't try to initialize a NodeHandle before ros::init was called.

80eadc1e 02/01/2012 11:02 PM Thomas Mullins

Created the vision package

For now there is a skeleton of v2v3_converter (without the math) which
will take in a TargetDescriptor (x, y, size) and tf from /camera to
/kinect, and will output a 3d target location.

2e0d5712 01/27/2012 06:25 PM Priya

Oops. Accidentally commited some of the build files. Deleting them now.

ba6306a1 01/27/2012 06:23 PM Priya

Adding joy package for joystick control. Takes a joystick working with linux and ports it into ROS.

fd29b28e 01/27/2012 06:21 PM Priya

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

5d4b79f4 01/22/2012 11:21 PM Thomas Mullins

Added joystick_control node, with a skeleton of a JoystickControl class,
modeled after the keyboard_control node. Eventually it will take
messages from joy_node and call velocity_control in MikrokopterControl.
At the moment, it compiles but does nothing.

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.

0d1f85b5 12/03/2011 07:46 PM Chris Burchhardt

auto-level in mikrokopter keyboard control

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

8ecb9700 11/19/2011 04:34 PM Alex Zirbel

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.

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

f07fd49e 11/17/2011 09:54 PM Chris Burchhardt

adding libserial0 to rosdep.yaml -- not 100% sure this is needed, but this is what's been running on my machine, and it works...

73ee1105 11/17/2011 09:53 PM Chris Burchhardt

Merge branch 'master' of ssh://roboclub.org/home/svn/quadrotor

a15ffaa4 11/17/2011 09:49 PM Chris Burchhardt

adding simple app to make the quadrotor fly forwards a bit

4ed0de29 11/17/2011 05:15 PM Roboclub

Added rosdep.yaml, to prevent future annoyances with libserial.

e5af41b0 11/13/2011 04:44 PM Chris Burchhardt

moving mikrokopter code from quad1 folder to root dir

07ec0a21 11/04/2011 07:04 PM Chris Burchhardt

adding mikrokopter navigation stack

9240aaa3 10/28/2011 12:39 AM Alex Zirbel

Added files from old subversion repository.

02ea17a0 10/26/2011 10:40 PM Alex Zirbel

Added a README file to the empty git repository.