From 835a25c3c5352639e8d15db205bae0653203e3a6 Mon Sep 17 00:00:00 2001
From: dave <david.st-onge@polymtl.ca>
Date: Sun, 23 Sep 2018 23:00:52 -0400
Subject: [PATCH] fix setmode in launch and min alt.

---
 buzz_scripts/include/act/states.bzz | 2 +-
 buzz_scripts/main.bzz               | 2 +-
 launch/rosbuzz.launch               | 2 ++
 launch/rosbuzzd.launch              | 4 +++-
 src/roscontroller.cpp               | 2 +-
 5 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/buzz_scripts/include/act/states.bzz b/buzz_scripts/include/act/states.bzz
index 0cca81d..78e9285 100644
--- a/buzz_scripts/include/act/states.bzz
+++ b/buzz_scripts/include/act/states.bzz
@@ -77,7 +77,7 @@ function stop() {
 	if(V_TYPE == 0 or V_TYPE == 1) {	# flying vehicle so LAND
 		neighbors.broadcast("cmd", 21)
 		uav_land()
-		if(pose.position.altitude <= 0.1) {
+		if(pose.position.altitude <= 0.3) {
 			BVMSTATE = "TURNEDOFF"
 			#barrier_set(ROBOTS,"TURNEDOFF","STOP", 21)
 			#barrier_ready(21)
diff --git a/buzz_scripts/main.bzz b/buzz_scripts/main.bzz
index 6d63d39..3cf751e 100644
--- a/buzz_scripts/main.bzz
+++ b/buzz_scripts/main.bzz
@@ -9,7 +9,7 @@ include "timesync.bzz"
 include "utils/takeoff_heights.bzz"
 
 #State launched after takeoff
-AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
+AUTO_LAUNCH_STATE = "IDLE"
 #AUTO_LAUNCH_STATE = "CUSFUN"
 #Lowest robot id in the network
 LOWEST_ROBOT_ID = 0
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index 5193f92..8744eab 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -8,6 +8,7 @@
   <arg name="script" default="testalone"/>
   <arg name="launch_config" default="topics"/>
   <arg name="debug" default="false" />
+  <arg name="setmode" default="false" />
 
   <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
     <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
@@ -20,6 +21,7 @@
     <param name="xbee_plugged" value="$(arg xbee_plugged)"/>
     <param name="name" value="$(arg name)"/>
     <param name="xbee_status_srv" value="network_status"/>
+    <param name="setmode" value="$(arg setmode)"/>
     <param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
   </node>
 </launch>
diff --git a/launch/rosbuzzd.launch b/launch/rosbuzzd.launch
index 36fa979..00a1f4b 100644
--- a/launch/rosbuzzd.launch
+++ b/launch/rosbuzzd.launch
@@ -8,6 +8,7 @@
   <arg name="script" default="testalone"/>
   <arg name="launch_config" default="topics"/>
   <arg name="debug" default="true" />
+  <arg name="setmode" default="false" />
 
   <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
     <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
@@ -19,7 +20,8 @@
     <param name="out_payload" value="outMavlink"/>
     <param name="xbee_plugged" value="$(arg xbee_plugged)"/>
     <param name="name" value="$(arg name)"/>
-    <param name="xbee_status_srv" value="xbee_status"/>
+    <param name="xbee_status_srv" value="network_status"/>
+    <param name="setmode" value="$(arg setmode)"/>
     <param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
   </node>
 </launch>
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index bc4080a..db83311 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -755,7 +755,7 @@ script
         armstate = 0;
         Arm();
       }
-      else if(cur_pos.altitude < 0.1) //disarm only when close to ground
+      else if(cur_pos.altitude < 0.3) //disarm only when close to ground
       {
         armstate = 0;
         Arm();