Will now publish video frames as soon as received if fullspeed_video=true. Unfortunately to do this we needed to do a few dirty hacks, implying that our architecture is no longer so suitable for the future direction of the driver. We need to talk about an architectural redesign perhaps...
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.
Conflicts:
src/ardrone_driver.h
Removed ros params command_disable_hover and command_always_send, in
favour of disabling hover manually by setting cmd_vel.angular.x=1 or
cmd_vel.angular.y=1
This is an aggressive launch file, you should turn down the
euler_angle_max, control_vz_max and control_yaw if you are not
interested in aggressive flight!
Mike Hamer