joystick_operation

start ps3joystick launch by following command:

$ roslaunch aerial_robot_base joy_stick.launch

basic usage:

note: based on the ps3joy keybind

1. rotor arming (start to turn on the rotor): 3
2. takeoff: 7 + 13
3. landing: 5 + 15
4. soft rotor stop: 0 (short push)
5. immediate rotor stop / emergency stop: 0 (long push > 0.5s)

note: rotor arming is necessary before takeoff! you can see the message START RES From AERIAL ROBOT from bringup terminal.

basic movement:

1. altitude control: 3+/3-
2. yaw control: 2+/2- with joystick2 pushed
3. horizontal velocity control: push 12 to switch to velocity mode, then use 0+/0-, 1+/1-
4. horizontal acceleration control: push 6 to switch to acceleration mode, then use 0+/0-, 1+/1-
5. horizontal position control (or hovering mode): push 14 to switch to position mode