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fix setmode in launch and min alt.

This commit is contained in:
dave 2018-09-23 23:00:52 -04:00
parent 4eb044a4a9
commit 835a25c3c5
5 changed files with 8 additions and 4 deletions
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2
buzz_scripts/include/act/states.bzz
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@ -77,7 +77,7 @@ function stop() {
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so LAND if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so LAND
neighbors.broadcast("cmd", 21) neighbors.broadcast("cmd", 21)
uav_land() uav_land()
if(pose.position.altitude <= 0.1) { if(pose.position.altitude <= 0.3) {
BVMSTATE = "TURNEDOFF" BVMSTATE = "TURNEDOFF"
#barrier_set(ROBOTS,"TURNEDOFF","STOP", 21) #barrier_set(ROBOTS,"TURNEDOFF","STOP", 21)
#barrier_ready(21) #barrier_ready(21)

2
buzz_scripts/main.bzz
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@ -9,7 +9,7 @@ include "timesync.bzz"
include "utils/takeoff_heights.bzz" include "utils/takeoff_heights.bzz"
#State launched after takeoff #State launched after takeoff
AUTO_LAUNCH_STATE = "TASK_ALLOCATE" AUTO_LAUNCH_STATE = "IDLE"
#AUTO_LAUNCH_STATE = "CUSFUN" #AUTO_LAUNCH_STATE = "CUSFUN"
#Lowest robot id in the network #Lowest robot id in the network
LOWEST_ROBOT_ID = 0 LOWEST_ROBOT_ID = 0

2
launch/rosbuzz.launch
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@ -8,6 +8,7 @@
<arg name="script" default="testalone"/> <arg name="script" default="testalone"/>
<arg name="launch_config" default="topics"/> <arg name="launch_config" default="topics"/>
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg name="setmode" default="false" />
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" > <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/> <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
@ -20,6 +21,7 @@
<param name="xbee_plugged" value="$(arg xbee_plugged)"/> <param name="xbee_plugged" value="$(arg xbee_plugged)"/>
<param name="name" value="$(arg name)"/> <param name="name" value="$(arg name)"/>
<param name="xbee_status_srv" value="network_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"/> <param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
</node> </node>
</launch> </launch>

4
launch/rosbuzzd.launch
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@ -8,6 +8,7 @@
<arg name="script" default="testalone"/> <arg name="script" default="testalone"/>
<arg name="launch_config" default="topics"/> <arg name="launch_config" default="topics"/>
<arg name="debug" default="true" /> <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"> <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"/> <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
@ -19,7 +20,8 @@
<param name="out_payload" value="outMavlink"/> <param name="out_payload" value="outMavlink"/>
<param name="xbee_plugged" value="$(arg xbee_plugged)"/> <param name="xbee_plugged" value="$(arg xbee_plugged)"/>
<param name="name" value="$(arg name)"/> <param name="name" value="$(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"/> <param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
</node> </node>
</launch> </launch>

2
src/roscontroller.cpp
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@ -755,7 +755,7 @@ script
armstate = 0; armstate = 0;
Arm(); 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; armstate = 0;
Arm(); Arm();