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ROSBuzz_MISTLab
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timeout in bzz

This commit is contained in:
David St-Onge 2017-03-15 16:53:32 -04:00
parent e1def9d976
commit abdef63da6
2 changed files with 4 additions and 2 deletions
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1
src/roscontroller.cpp
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@ -302,6 +302,7 @@ namespace rosbzz_node{
pt.position.y = goto_pos[1]; pt.position.y = goto_pos[1];
pt.position.z = goto_pos[2]; pt.position.z = goto_pos[2];
pt.yaw = 0;//goto_pos[3]; pt.yaw = 0;//goto_pos[3];
ROS_INFO("Sending local setpoint: %.2f, %.2f, %.2f",pt.position.x,pt.position.y,pt.position.z);
localsetpoint_pub.publish(pt); localsetpoint_pub.publish(pt);
} }
/*obtain Pay load to be sent*/ /*obtain Pay load to be sent*/

5
src/testflockfev.bzz
View File

@ -78,7 +78,7 @@ function barrier_ready() {
# #
# Executes the barrier # Executes the barrier
# #
WAIT_TIMEOUT = 100 WAIT_TIMEOUT = 500
timeW=0 timeW=0
function barrier_wait(threshold, transf) { function barrier_wait(threshold, transf) {
barrier.get(id) barrier.get(id)
@ -88,7 +88,7 @@ function barrier_wait(threshold, transf) {
transf() transf()
} else if(timeW>=WAIT_TIMEOUT) { } else if(timeW>=WAIT_TIMEOUT) {
barrier = nil barrier = nil
statef=hexagon #idle statef=land
timeW=0 timeW=0
} }
timeW = timeW+1 timeW = timeW+1
@ -166,6 +166,7 @@ function step() {
neighbors.broadcast("cmd", 21) neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) { } else if(flight.rc_cmd==16) {
flight.rc_cmd=0 flight.rc_cmd=0
statef = idle
uav_goto() uav_goto()
} else if(flight.rc_cmd==400) { } else if(flight.rc_cmd==400) {
flight.rc_cmd=0 flight.rc_cmd=0