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...
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.
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