From 0f54378b269e116bc9c04fd6ec45c505691392ff Mon Sep 17 00:00:00 2001
From: mistSpiri_Valmiki <vivekshankarv@gmail.com>
Date: Thu, 11 Feb 2016 11:32:52 -0500
Subject: [PATCH] changes made on the field

---
 buzz_scripts/main.bzz | 3 ++-
 src/roscontroller.cpp | 9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/buzz_scripts/main.bzz b/buzz_scripts/main.bzz
index ca87ef9..7791ccc 100644
--- a/buzz_scripts/main.bzz
+++ b/buzz_scripts/main.bzz
@@ -10,7 +10,8 @@ include "utils/takeoff_heights.bzz"
 
 #State launched after takeoff
 
-AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
+#AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
+AUTO_LAUNCH_STATE = "IDLE"
 TARGET     = 9.0
 EPSILON    = 30.0
 ROOT_ID = 3
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index fa0ac58..fbcc069 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -746,19 +746,20 @@ script
   {
     case NAV_TAKEOFF:
       goto_pos = buzzuav_closures::getgoto();
-      goto_pos[0] = cur_pos.x;
-      goto_pos[1] = cur_pos.y;
+      goto_pos[0] = 0.0;
+      goto_pos[1] = 0.0;
       cmd_srv.request.param5 = cur_pos.latitude;
       cmd_srv.request.param6 = cur_pos.longitude;
       cmd_srv.request.param7 = goto_pos[2];
       cmd_srv.request.command = buzzuav_closures::getcmd();
       if (!armstate)
       {
-        if(setmode)
+        if(setmode){
           SetMode("LOITER", 0);
+          ros::Duration(0.5).sleep();
+        }
         armstate = 1;
         Arm();
-        ros::Duration(0.5).sleep();
         // Registering HOME POINT.
         home = cur_pos;
 	BClpose = true;