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ROSBuzz_MISTLab
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Merge commit '0d2304116092196feca6320e38527089a987be88' into sim

This commit is contained in:
Fang Wu 2018-10-18 11:15:01 -04:00
parent a0bc189fdb 0d23041160
commit 55c8b0346d
1 changed files with 4 additions and 4 deletions
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6
src/roscontroller.cpp
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@ -164,7 +164,7 @@ void roscontroller::RosControllerRun()
// Call the flight controler service // Call the flight controler service
flight_controller_service_call(); flight_controller_service_call();
// Broadcast local position to FCU // Broadcast local position to FCU
if(BClpose) if(BClpose && !setmode)
SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]); SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
// Set ROBOTS variable (swarm size) // Set ROBOTS variable (swarm size)
get_number_of_robots(); get_number_of_robots();
@ -762,7 +762,6 @@ script
Arm(); Arm();
// Registering HOME POINT. // Registering HOME POINT.
home = cur_pos; home = cur_pos;
BClpose = true;
} }
if (current_mode != "GUIDED" && setmode) if (current_mode != "GUIDED" && setmode)
SetMode("GUIDED", 2000); // added for compatibility with 3DR Solo SetMode("GUIDED", 2000); // added for compatibility with 3DR Solo
@ -792,7 +791,6 @@ script
{ {
armstate = 0; armstate = 0;
Arm(); Arm();
BClpose = false;
} }
if (mav_client.call(cmd_srv)) if (mav_client.call(cmd_srv))
{ {
@ -840,6 +838,8 @@ script
case NAV_SPLINE_WAYPOINT: case NAV_SPLINE_WAYPOINT:
goto_pos = buzzuav_closures::getgoto(); goto_pos = buzzuav_closures::getgoto();
if(setmode)
SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
break; break;
case DO_MOUNT_CONTROL: case DO_MOUNT_CONTROL: