From a98e11aa41430b8813881d4f6213cdb1597b34db Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Fri, 10 Feb 2017 15:57:25 -0500
Subject: [PATCH] obstacle buzz object

---
 launch/rosbuzz_2_parallel.launch | 2 +-
 src/buzz_utility.cpp             | 1 +
 src/buzzuav_closures.cpp         | 4 ++--
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/launch/rosbuzz_2_parallel.launch b/launch/rosbuzz_2_parallel.launch
index 44841ea..58b42a8 100644
--- a/launch/rosbuzz_2_parallel.launch
+++ b/launch/rosbuzz_2_parallel.launch
@@ -2,7 +2,7 @@
 
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz" />
+		<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test_obst.bzz" />
                 <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="rc_cmd" />
 		<param name="fcclient_name" value="/djicmd" />
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 1222866..edb71c8 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -492,6 +492,7 @@ namespace buzz_utility{
 	   buzzuav_closures::buzzuav_update_prox(VM);
 	   buzzuav_closures::buzzuav_update_currentpos(VM);
 	   buzzuav_closures::buzzuav_update_flight_status(VM);
+	   buzzuav_closures::buzzuav_update_obstacle(VM);
 	    /*
 	    * Call Buzz step() function
 	    */
diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index 67509876..70c9723 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -12,7 +12,7 @@ namespace buzzuav_closures{
 static double goto_pos[3];
 static double rc_goto_pos[3];
 static float batt[3];
-static float obst[5];
+static float obst[5]={0,0,0,0,0};
 static double cur_pos[3];
 static uint8_t status;
 static int cur_cmd = 0;
@@ -204,7 +204,7 @@ rc_cmd=rc_cmd_in;
 
 void set_obstacle_dist(float dist[]){
 	for(int i=0; i<5;i++)
-		dist[i]=obst[i];	
+		obst[i]=dist[i];	
 }