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