Manually merging #25 to add magnetometer topic (by @sameerparekh)

README.md

@@ -6,6 +6,7 @@
 
 ### Updates
 
+- *November 9 2012*: Critical Bug in sending configurations to drone fixed ([More info](https://github.com/AutonomyLab/ardrone_autonomy/issues/24)). Seperate topic for magnetometer data added ([More info](https://github.com/AutonomyLab/ardrone_autonomy/pull/25)).
 - *September 5 2012*: Experimental automatic IMU bias removal.
 - *August 27 2012*: Thread-safe SDK data access. Synchronized `navdata` and `camera` topics.
 - *August 20 2012*: The driver is now provides ROS standard camera interface.
@@ -91,6 +92,10 @@ Information received from the drone will be published to the `ardrone/navdata` t
 
 The linear acceleration, angular velocity and orientation from the `Navdata` is also published to a standard ROS [`sensor_msgs/Imu`](http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html) message. The units are all metric and the reference frame is in `Base` frame. This topic is experimental. The covariance values are specified by specific parameters.
 
+### Megnetometer Data
+
+The normalized magnetometer readings are also published to `ardrone/mag` topic as a standard ROS [`geometry_msgs/Vector3Stamped`](http://www.ros.org/doc/api/geometry_msgs/html/msg/Vector3Stamped.html) message.
+
 ### Cameras
 
 Both AR-Drone 1.0 and 2.0 are equipped with two cameras. One frontal camera pointing forward and one vertical camera pointing downward. This driver will create three topics for each drone: `ardrone/image_raw`, `ardrone/front/image_raw` and `ardrone/bottom/image_raw`. Each of these three are standard [ROS camera interface](http://ros.org/wiki/camera_drivers) and publish messages of type [image transport](http://www.ros.org/wiki/image_transport). The driver is also a standard [ROS camera driver](http://www.ros.org/wiki/camera_drivers), therefor if camera calibration information is provided either as a set of ROS parameters or appropriate `ardrone_front.yaml` and/or `ardrone_bottom.yaml`, the information will be published in appropriate `camera_info` topics. Please check the FAQ section for more information.
@@ -208,9 +213,11 @@ The Parrot's license, copyright and disclaimer for `ARDroneLib` are included wit
 
 ## Contributors
 
-- [Rachel Brindle](https://github.com/younata) - [Enhanced Navdata for AR-Drone 2.0](https://github.com/AutonomyLab/ardrone_autonomy/pull/2)
+- [Mike Hamer](https://github.com/mikehamer) - Added support for proper SDK2 way of configuring the Drone via parameter (critical bug fix). [More Info](https://github.com/AutonomyLab/ardrone_autonomy/pull/26)
+- [Sameer Parekh](https://github.com/sameerparekh) - [Seperate Magnetometer Topic](https://github.com/AutonomyLab/ardrone_autonomy/pull/25)
 - [Devmax](https://github.com/devmax) - [Flat Trim](https://github.com/AutonomyLab/ardrone_autonomy/issues/18) + Various
 comments for enhancements
+- [Rachel Brindle](https://github.com/younata) - [Enhanced Navdata for AR-Drone 2.0](https://github.com/AutonomyLab/ardrone_autonomy/pull/2)
 
 ## FAQ