change msg type of rpy gain from int16 to uint16

[kitagawa444]

What is this

change msg type of rpy gain from int16 to uint16

Details

Currently, the upper limit of the RPY gain is 32.767 (≤ 2¹⁵ = 32,768, int16).
Since negative values are never used, we can change the message type to uint16, which increases the upper limit to 65,535.

[kitagawa444]

I haven't checked in rm

[kitagawa444]

I have checked in rm.
It worked well in flight.

For ex,
/rpy/gain
`motors:

roll_p: 35000
roll_i: 7000
roll_d: 15500
pitch_p: 35000
pitch_i: 7000
pitch_d: 15500
yaw_d: 4000

---

previous
motors:

roll_p: −30,536
roll_i: 7000
roll_d: 15500
pitch_p: −30,536
pitch_i: 7000
pitch_d: 15500
yaw_d: 4000

---

`

[tongtybj]

@kitagawa444

Perfect!

[tongtybj]

The rpy gain for other robots, such as mini_quadrotor, is calculated for each rotor, where the negatives value exist:

chou@homeaxis:~$ rostopic echo /quadrotor/rpy/gain -n 1
motors:
  -
    roll_p: -2020
    roll_i: -355
    roll_d: -419
    pitch_p: 2011
    pitch_i: 353
    pitch_d: 416
    yaw_d: 1095
  -
    roll_p: -2001
    roll_i: -351
    roll_d: -412
    pitch_p: -2010
    pitch_i: -353
    pitch_d: -416
    yaw_d: -1100
  -
    roll_p: 2001
    roll_i: 351
    roll_d: 412
    pitch_p: -2010
    pitch_i: -353
    pitch_d: -416
    yaw_d: 1100
  -
    roll_p: 2020
    roll_i: 355
    roll_d: 419
    pitch_p: 2011
    pitch_i: 353
    pitch_d: 416
    yaw_d: -1095
---