Quadrotor

Revision 7a6ed02d

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.

-Changed turn_to_target and joystick_control (but not any others yet) to
use new nav_lib main_loop.

-Added mk_wrapper, which simply copies messages from /mk_wrapper/control
to /mikrokopter/req_set_control. After recieving the first message, if
it receives no message for a period of 200ms (rosparam max_quiet_time),
it will instead publish 0's and a thrust of 60, ignoring all future
input until restarted.

-Added launch files onboard.launch and joystick.launch, so that we
remember what should run where and can easily set some parameters.

#include "nav_lib.h"

MikrokopterControl::MikrokopterControl()

{

    control.digital[0] = 0;

    pub.publish(control);

}

void MikrokopterControl::main_loop()

{

    ros::Publisher pub = nh.advertise< ::mikrokopter::Control>(

        "/mk_wrapper/control", 200);

    int publish_rate;

    ros::param::param<int>("publish_rate", publish_rate, 20);

    ros::Rate loop_rate(publish_rate);

    while (ros::ok())

    {

        ros::spinOnce();

        pub.publish(control);

        loop_rate.sleep();

    }

}

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