added image to project. Need to adjust size, offset, etc. Need also to investigate CMAKE resource adding

Finished with controller, therefore we merge

Merge branch 'controller_update' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into controller_update

This has to be done

changes to CMakeList, Crazyflie.launch and CustomControllerService -- all concerning the CustomControllerService

Merge branch 'controller_update' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into controller_update

added student controller framework called CustomControllerService---hopefully now it actually pushes the file..

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

implemented Kalman filter as state estimator, but position is converging very slowly and causes oscillations in x, y and z direction

Fixed problem Moving markers. Still need to find out a way of moving the anti-zooming highlight circle

Now we compile everything correctly from catkin and from QtCreator. Had to go back to one CMakeLists.txt file, otherwise would not work

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.