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....
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...
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