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

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.

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

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

First compiling version with ros library inside GUI code. Now need to do something meaningful. MSG, shared folder with the rest of the team?

fixed CrazyRadio crash on shutdown, fixed RateCommand.msg (according to Dusan's code), removed timers from PPSClient, still fucking around with SafeControllerService

reverted CrazyRadio, fixed PPSClient and fucked around with SafeControllerService. Also modified .gitignore to ignore all pyc files.

created dummy file to let git make an include directory in the d_fall_gui package, as is would not compile otherwise

solved directory problem by adding INCLUDEPATH += 3450PWD/include to CrazyFlyGUI.pro. Now we can freely choose where to locate header and source files for GUI

Added src and include, made GUI compile with QtCreator stuff, to keep the development going. Need to add compilation with ROS stuff, catkin_make

safeRateCommandPkg added as Output from safeController. This gets then pubslished via callbackRateCommand.