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ROSBuzz_MISTLab
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fixes

This commit is contained in:
isvogor 2017-02-23 22:13:44 -05:00
parent 5f4aaeb1e0
commit 133f6dbd02
1 changed files with 10 additions and 3 deletions
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13
src/roscontroller.cpp
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@ -308,6 +308,7 @@ namespace rosbzz_node{
if(fcclient_name == "/mavros/cmd/command"){
int tmp = buzzuav_closures::bzz_cmd();
double* goto_pos = buzzuav_closures::getgoto();
cout << "Flying Solo today? " << endl;
switch(tmp){
// TAKEOFF -- LAND
@ -322,8 +323,8 @@ namespace rosbzz_node{
cmd_srv.request.command = buzzuav_closures::getcmd();
// just to be safe -- while landing!
if(armstate == 1 && buzzuav_closures::getcmd() == 22){
SetMode("GUIDED", 0);
if(armstate == 1 && buzzuav_closures::getcmd() == 21){
SetMode("LAND", 0);
}
if (mav_client.call(cmd_srv)){
@ -643,7 +644,10 @@ namespace rosbzz_node{
else if (msg->mode == "LAND")
buzzuav_closures::flight_status_update(4);
else // ground standby = LOITER?
{
cout << "Warning -- something else, going to GUIDED!" << endl;
buzzuav_closures::flight_status_update(1);//?
}
}
/*flight extended status update*/
@ -783,7 +787,7 @@ namespace rosbzz_node{
armstate = 1;
SetMode("LOITER", 0);
Arm();
if(fcclient_name == "/mavros/cmd/command") { SetMode("LOITER", 2000); }
if(fcclient_name == "/mavros/cmd/command") { SetMode("GUIDED", 2000); }
}
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
@ -791,6 +795,9 @@ namespace rosbzz_node{
case mavros_msgs::CommandCode::NAV_LAND:
ROS_INFO("RC_Call: LAND!!!!");
rc_cmd=mavros_msgs::CommandCode::NAV_LAND;
// again -- to be safe:
SetMode("LAND", 0);
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;