custom controller a bit more ready, still need to fill information in GUI fields and connect everything to GUI (set setpoint mainly). Landing and take off parameters now in YAML file

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.

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.

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