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# Date Author Comment
98711613 04/17/2012 12:35 PM Thomas Mullins

Moved mikrokopter package one folder deeper

The packages arduino and altitude_node aren't found inside another
package directory, so this way they're both found and the repo is a
little more organized.

7bc485ed 04/16/2012 12:07 PM Thomas Mullins

Added /altitude_node/enable topic to disable PID

Also, added node_control.cpp and Velocity2D.msg, which should have been
commited before but apparently weren't.

737bd480 04/15/2012 07:17 PM Thomas Mullins

Added altitude_node and node_control

node_control listens to /mikrokopter/thrust, yaw, and velocity, and
publishes control messages using nav_lib. altitude_node publishes to
/mikrokopter/thrust using PID_control on barometer values.

4ed577d5 04/15/2012 06:03 PM Thomas Mullins

Improved the README in mikrokopter/arduino

08b4f0df 04/08/2012 07:14 PM Thomas Mullins

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 has
enough thrust to get it off the ground.

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.

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.

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....

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