Now if the CF disconnects, the state goes back to motors off so when we start over we dont have the device flying

added buttons to take off and land, some guards in take off and landing, and feedback from flying state to GUI

Added some changes to try downstairs: Scale factor 1.2, take into account occluded flag in controller, Z origin is now 0, table, not middle of box

solved issued on data record. extended Student.launch with rqt dashboard plugin to send manually configured topics.

Crazyradio logs batterz status and writes to bag file. Conversion issue and bagdata is useless. But battery status and stabilizer logs are already printed to console at 1000ms rate

only some small additions for data recording. safecontroller is also writing to bagfile allowing to find the controller mistake.

rosbag included. not working and creating error at startup. rest should however still run. safetycheck added again ... switches off and terminates ros when area boundaries are left

changed the function convertIntoBodyFrame(request, est, state, yaw_measured) such that it uses the measured yaw without considering the setpoint - eliminates the drifting problem but is probably still wrong regarding the controlling logic. Added an rqt-plot to the launch file.

supposedly fixed problem caused when multiple Cf-Objects are selected in Vicon. Plus some cosmetic changes

safecontroller works fine. still an issue with outYaw cause it overshoots - check comment in safecontroller code. safetycheck for localArea implemented and adjusted - switchoff if out of bounds.