minor fix to user rb

include/buzz_utility.h

@@ -34,6 +34,7 @@ int make_table(buzzobj_t* t);
 int buzzusers_add(int id, double latitude, double longitude, double altitude);
 int buzzusers_reset();
 	int compute_users_rb();
+	int create_stig_tables();
 
 void in_msg_append(uint64_t* payload);
 

src/buzz_utility.cpp

@@ -41,7 +41,8 @@ namespace buzz_utility{
 	void update_users(){
 		if(users_map.size()>0) {
 			/* Reset users information */
-			buzzusers_reset();
+//			buzzusers_reset();
+			create_stig_tables();
 			/* Get user id and update user information */
 			map< int, Pos_struct >::iterator it;
 			for (it=users_map.begin(); it!=users_map.end(); ++it){
@@ -370,7 +371,7 @@ namespace buzz_utility{
    	return VM->state;
 	}
 
-static int create_stig_tables() {
+int create_stig_tables() {
 /*
    		// usersvstig = stigmergy.create(123)
         buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));

src/buzzuav_closures.cpp

@@ -7,6 +7,7 @@
  */
 //#define _GNU_SOURCE
 #include "buzzuav_closures.h"
+#include "math.h"
 
 namespace buzzuav_closures{
 
@@ -187,10 +188,13 @@ namespace buzzuav_closures{
 	   double rb[3];
 
 	   rb_from_gps(tmp, rb, cur_pos);
-
-	   //printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
-
+	   if(fabs(rb[0])<100.0) {
+	   	printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
 		return users_add2localtable(vm, uid, rb[0], rb[1]);
+	   } else
+		printf(" ---------- User too far %f\n",rb[0]);
+
+		return 0;
 	}
 
 	/*----------------------------------------/

src/roscontroller.cpp

@@ -676,19 +676,13 @@ namespace rosbzz_node{
 	}
 
 	void roscontroller::users_pos(const rosbuzz::neigh_pos data){
-		//ROS_INFO("Altitude out: %f", cur_rel_altitude);
 
-                double us[3];
                 int n = data.pos_neigh.size();
-        //	ROS_INFO("Neighbors array size: %i\n", n);
+        //	ROS_INFO("Users array size: %i\n", n);
                 if(n>0)
                 {
                         for(int it=0; it<n; ++it)
                         {
-                                us[0] = data.pos_neigh[it].latitude;
-                                us[1] = data.pos_neigh[it].longitude;
-                                us[2] = data.pos_neigh[it].altitude;
-								
 				buzz_utility::add_user(data.pos_neigh[it].position_covariance_type,data.pos_neigh[it].latitude, data.pos_neigh[it].longitude, data.pos_neigh[it].altitude);
                         }