Add High-Level Commander, see #293 #299
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The initial high-level commander supports takeoff, landing, stop, and goTo. Each CF can be part of one of 8 groups, and commands can be broadcasted for specific groups, only. Tested in a mocap system with kalman estimator and mellinger controller using crazyflie_ros (high-level-setpoints branch; test_high_level.py).
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Thanks a lot! I merge it. |
This was referenced Sep 21, 2018
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The initial high-level commander supports takeoff, landing, stop, and goTo. Each CF can be part of one of 8 groups, and commands can be broadcasted for specific groups, only.
Tested in a mocap system with kalman estimator and mellinger controller using crazyflie_ros (high-level-setpoints branch; test_high_level.py).
I am planning to add more commands in the future (e.g., trajectory upload and execution), but this PR adds all the necessary components first.