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
Mike Hamer
784df9925e