Added link to use custom controller and safe controller. Need to see what happens if we change yaml file name on the run

added disconnect command, need to test. Also added protection when disconnected to change flying state. Also buttons are now really disabled when disconnected

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

Reconnection working now. Need to discuss if it is better to have scripts called from GUI or the way it is done now

Crazyradio publishes now the battery voltage and can be accessed either in the terminal by using rostopic echo /studentnumber/cfbattery OR by making a listener that listens to the topic cfbattery

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

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

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.