From ae41ee5eab76124c99f51fc26effa91d84a0c7c5 Mon Sep 17 00:00:00 2001
From: dave <david.st-onge@polymtl.ca>
Date: Tue, 20 Nov 2018 11:26:14 +0100
Subject: [PATCH] adapted to new field and enhanced gohome

---
 buzz_scripts/include/act/naviguation.bzz      |  8 ++---
 buzz_scripts/include/act/neighborcomm.bzz     | 32 ++++++++++---------
 .../include/taskallocate/waypointlist.csv     | 20 ++++++------
 .../include/utils/takeoff_heights.bzz         | 10 +++---
 4 files changed, 36 insertions(+), 34 deletions(-)

diff --git a/buzz_scripts/include/act/naviguation.bzz b/buzz_scripts/include/act/naviguation.bzz
index 4c60583..a01a302 100644
--- a/buzz_scripts/include/act/naviguation.bzz
+++ b/buzz_scripts/include/act/naviguation.bzz
@@ -7,10 +7,10 @@ GPSlimit_CEPSUM = {.1={.lat=45.510400, .lng=-73.610421},
 			.3={.lat=45.510355, .lng=-73.608404},
 			.4={.lat=45.509840, .lng=-73.610072}}
 
-GPSlimit_PANGEAE = {.1={.lat=29.020871, .lng=-13.712477},
-			.2={.lat=29.019850, .lng=-13.712378},
-			.3={.lat=29.019875, .lng=-13.710096},
-			.4={.lat=29.021245, .lng=-13.710184}}
+GPSlimit_PANGEAE = {.1={.lat=29.067746, .lng=-13.663315},
+			.2={.lat=29.068724, .lng=-13.662634},
+			.3={.lat=29.068113, .lng=-13.661427},
+			.4={.lat=29.067014, .lng=-13.661564}}
 
 # Core naviguation function to travel to a GPS target location.
 function goto_gps(transf) {
diff --git a/buzz_scripts/include/act/neighborcomm.bzz b/buzz_scripts/include/act/neighborcomm.bzz
index 13ca0d9..7e5089d 100644
--- a/buzz_scripts/include/act/neighborcomm.bzz
+++ b/buzz_scripts/include/act/neighborcomm.bzz
@@ -21,18 +21,18 @@ function rc_cmd_listen() {
 	} else {
 		if(flight.rc_cmd==21) {
 			flight.rc_cmd=0
-			#barrier_set(ROBOTS, "GOHOME", BVMSTATE, 21)
-			#barrier_ready(21)
 			BVMSTATE = "STOP"
 			neighbors.broadcast("cmd", 21)
-		} else if(flight.rc_cmd==20) {
-			flight.rc_cmd=0
-			AUTO_LAUNCH_STATE = "IDLE"
-			barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
-			barrier_ready(20)
-			neighbors.broadcast("cmd", 20)
 		} else if(BVMSTATE!="BARRIERWAIT" and BVMSTATE!="LAUNCH") {
-			if (flight.rc_cmd==666){
+			 if(flight.rc_cmd==20) {
+				flight.rc_cmd=0
+				destroyGraph()
+				check_rc_wp()
+				AUTO_LAUNCH_STATE = "IDLE"
+				barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
+				barrier_ready(20)
+				neighbors.broadcast("cmd", 20)
+			} else if (flight.rc_cmd==666){
 				flight.rc_cmd=0
 				stattab_send()
 			} else if (flight.rc_cmd==900){
@@ -90,15 +90,17 @@ function nei_cmd_listen() {
 						reinit_time_sync()
 					}
 				} else {
-					if(value==20) {
-						AUTO_LAUNCH_STATE = "IDLE"
-						barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
-						barrier_ready(20)
-					} else if(value==21 ) {
+					if(value==21 ) {
 						BVMSTATE = "STOP"
 						#neighbors.broadcast("cmd", 777)
 					}else if(BVMSTATE!="BARRIERWAIT" and BVMSTATE!="LAUNCH") {
-						if(value==900){	# Shapes
+						if(value==20 and BVMSTATE!="GOHOME") {
+							AUTO_LAUNCH_STATE = "IDLE"
+							resetWP()
+							if(BVMSTATE!=AUTO_LAUNCH_STATE)
+								barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
+							#barrier_ready(20)
+						} else if(value==900){	# Shapes
 							barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
 							#barrier_ready(900)
 							#neighbors.broadcast("cmd", 900)
diff --git a/buzz_scripts/include/taskallocate/waypointlist.csv b/buzz_scripts/include/taskallocate/waypointlist.csv
index 3d198b7..b84775a 100644
--- a/buzz_scripts/include/taskallocate/waypointlist.csv
+++ b/buzz_scripts/include/taskallocate/waypointlist.csv
@@ -1,10 +1,10 @@
-1,-13.710661,29.020850,10.0,1
-2,-13.711061,29.020946,10.0,0
-3,-13.711605,29.020421,10.0,1
-4,-13.711925,29.020003,10.0,0
-5,-13.712166,29.020435,10.0,1
-6,-13.710498,29.020341,10.0,0
-7,-13.711506,29.019919,10.0,0
-8,-13.712048,29.020385,10.0,0
-9,-13.711514,29.020261,10.0,1
-10,-13.711621,29.020725,10.0,1
\ No newline at end of file
+1,-13.662583,29.068509,10.0,1
+2,-13.661774,29.067843,10.0,0
+3,-13.661838,29.067285,10.0,1
+4,-13.662144,29.067923,10.0,0
+5,-13.662476,29.067670,10.0,1
+6,-13.663044,29.067843,10.0,0
+7,-13.661642,29.068001,10.0,0
+8,-13.662831,29.067993,10.0,0
+9,-13.662009,29.067586,10.0,1
+10,-13.662690,29.068369,10.0,1
\ No newline at end of file
diff --git a/buzz_scripts/include/utils/takeoff_heights.bzz b/buzz_scripts/include/utils/takeoff_heights.bzz
index 03aaaa0..61a8acb 100644
--- a/buzz_scripts/include/utils/takeoff_heights.bzz
+++ b/buzz_scripts/include/utils/takeoff_heights.bzz
@@ -17,9 +17,9 @@ takeoff_heights ={
     .21 = 3.0,
     .22 = 3.0,
     .23 = 0.0,
-    .24 = 38.0,
-    .25 = 34.0,
-    .26 = 25.0,
-    .27 = 42.0,
-    .28 = 29.0
+    .24 = 24.0,
+    .25 = 18.0,
+    .26 = 10.0,
+    .27 = 28.0,
+    .28 = 14.0
 }
\ No newline at end of file