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Merge commit 'fa0e8729288e5a4bc1f9ea5071ea8e6a5ca5c07a' into ros_drones_ws

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david 2018-11-12 18:18:01 -05:00
parent 0f23cdd162 fa0e872928
commit f6685d6e4c
1 changed files with 3 additions and 1 deletions
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buzz_scripts/include/act/states.bzz
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@ -19,6 +19,7 @@ WP_STIG = 8
path_it = 0 path_it = 0
pic_time = 0 pic_time = 0
g_it = 0 g_it = 0
homegps = {}
# Core state function when on the ground # Core state function when on the ground
function turnedoff() { function turnedoff() {
@ -35,7 +36,8 @@ function launch() {
BVMSTATE = "LAUNCH" BVMSTATE = "LAUNCH"
log("AUTO_LAUNCH_STATE: ", AUTO_LAUNCH_STATE) log("AUTO_LAUNCH_STATE: ", AUTO_LAUNCH_STATE)
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so TAKE_OFF if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so TAKE_OFF
homegps = {.lat=pose.position.latitude, .long=pose.position.longitude} homegps = {.lat=pose.position.latitude, .lng=pose.position.longitude}
log("Recorded home point: ",homegps.lat, homegps.lng)
if(pose.position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) { if(pose.position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS, AUTO_LAUNCH_STATE, "STOP", 22) barrier_set(ROBOTS, AUTO_LAUNCH_STATE, "STOP", 22)
barrier_ready(22) barrier_ready(22)