AutonomyLab/ardrone_autonomy — pull request #39 by mikehamer (2012-11-23 11:18:07+00:00)
Title: Enables real-time publishing of new-style navdata

This pull request contains the improvements found in my last pull request #38, while adding the following two improvements:

Two new parameters have been added:
* `fullspeed_navdata`, which controls whether new-style navdata is published when received, or at `looprate`
* `looprate`, which controls the speed of the internal ros-loop. Note that legacy navdata is always published at `looprate`

Also made various speed improvements to the navdata processing pipeline to enable this faster processing.

Also fixed a problem with `enable_legacy_navdata`, whereby it wasn't read correctly and thus had no effect. Also mentioning it here because I forgot to mention it when I added it ages ago.

Also updated and commented the launch file to reflect these changes.

Regarding testing, I've flown with this for three batteries, with `fullspeed_navdata=true`, `looprate=50`, while rosbagging everything and experienced no unusual behaviour.