Moved mikrokopter package one folder deeper
The packages arduino and altitude_node aren't found inside anotherpackage directory, so this way they're both found and the repo is alittle more organized.
Added /altitude_node/enable topic to disable PID
Also, added node_control.cpp and Velocity2D.msg, which should have beencommited before but apparently weren't.
Added altitude_node and node_control
node_control listens to /mikrokopter/thrust, yaw, and velocity, andpublishes control messages using nav_lib. altitude_node publishes to/mikrokopter/thrust using PID_control on barometer values.
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....
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