From c1141fddc164fc6f62ca635caecd5e1413a7c5fe Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Fri, 27 Jan 2017 09:31:42 -0500
Subject: [PATCH] msg receive bug debug

---
 src/buzz_utility.cpp  | 5 +++--
 src/roscontroller.cpp | 1 +
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index f882d3f..dbc8f07 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -86,6 +86,7 @@ namespace buzz_utility{
       		uint16_t unMsgSize;
 		uint8_t is_msg_pres=*(uint8_t*)(pl + tot);
 		tot+=sizeof(uint8_t);
+		 fprintf(stdout,"is_updater msg present : %i\n",(int)is_msg_pres);
 		if(is_msg_pres){
 		unMsgSize = *(uint16_t*)(pl + tot);
 		tot+=sizeof(uint16_t);
@@ -128,8 +129,8 @@ namespace buzz_utility{
    		tot += sizeof(uint16_t);
 		uint8_t updater_msg_pre = 0;
    		uint16_t updater_msgSize= 0;
-		if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()){
-		   //fprintf(stdout,"transfer code %d\n", transfer_code);
+		if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
+		   fprintf(stdout,"transfer code \n");
 		   updater_msg_pre =1;
 		   //transfer_code=0;
 		   *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 9f34cf7..e466ccf 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -184,6 +184,7 @@ namespace rosbzz_node{
 	    		else ROS_ERROR("Failed to call service from flight controller"); 
 		}
     		/*obtain Pay load to be sent*/  
+		fprintf(stdout, "before getting msg from utility\n");
    		uint64_t* payload_out_ptr= buzz_utility::out_msg_process();
     		uint64_t  position[3];
   		/*Appened current position to message*/