Spiri/ROSBuzz_MISTLab
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take off and land works

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This commit is contained in:
isvogor 2017-02-17 17:29:42 -05:00
parent 9088a5d1f5
commit a6de3cecd1
2 changed files with 3 additions and 3 deletions
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4
src/buzzuav_closures.cpp
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@ -157,7 +157,7 @@ int buzzuav_moveto(buzzvm_t vm) {
}
}*/
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
printf(" Buzz requested Go To, to Latitude: %.7f , Longitude: %.7f, Altitude: %.7f \n",goto_pos[0],goto_pos[1],goto_pos[2]);
printf(" Buzz requested Go To, to Latitude: %.7f , Longitude: %.7f, Altitude: %.7f \n",goto_pos[0], goto_pos[1], goto_pos[2]);
buzz_cmd=2;
return buzzvm_ret0(vm);
}
@ -215,7 +215,7 @@ int buzzuav_takeoff(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 1);
buzzvm_lload(vm, 1); /* Altitude */
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
goto_pos[2]=buzzvm_stack_at(vm, 1)->f.value;
goto_pos[2] = buzzvm_stack_at(vm, 1) -> f.value;
height = goto_pos[2];
cur_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
printf(" Buzz requested Take off !!! \n");

2
src/test1.bzz
View File

@ -144,7 +144,7 @@ function step() {
flight.rc_cmd=0
statef = land
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16 and flight.status==2) {
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
uav_goto()
}