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Modify flip function to work better in aruco_map frame with both Clever 3 & 4

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(cherry picked from commit a5021d4b6e)
This commit is contained in:
Arthur Golubtsov
2019-06-16 17:08:01 +03:00
parent 9790d2b164
commit 1474bf6fc3
2 changed files with 5 additions and 5 deletions
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8
Drone/FlightLib/FlightLib.py
View File

@@ -359,10 +359,10 @@ def takeoff(z=Z_TAKEOFF, speed=SPEED_TAKEOFF, frame_id='body', freq=FREQUENCY,
#print("Takeoff succeeded!")
return 'success'
def flip(min_z = FLIP_MIN_Z): #TODO Flip in different directions
def flip(min_z = FLIP_MIN_Z, frame_id = FRAME_ID): #TODO Flip in different directions
logger.info("Flip started!")
start_telemetry = get_telemetry() # memorize starting position
start_telemetry = get_telemetry(frame_id=frame_id) # memorize starting position
if start_telemetry.z < min_z - TOLERANCE:
logger.warning("Can't do flip! Flip failed!")
@@ -377,9 +377,9 @@ def flip(min_z = FLIP_MIN_Z): #TODO Flip in different directions
while True:
telem = get_telemetry()
if -math.pi + 0.1 < telem.roll < -0.2:
if abs(telem.roll) > math.pi/2:
break
logger.info('Flip succeeded!')
#print('Flip succeeded!')
navto(x=start_telemetry.x, y=start_telemetry.y, z=start_telemetry.z, yaw=start_telemetry.yaw) # finish flip
navto(x=start_telemetry.x, y=start_telemetry.y, z=start_telemetry.z, yaw=start_telemetry.yaw, frame_id=frame_id) # finish flip

2
Drone/copter_client.py
View File

@@ -108,7 +108,7 @@ def _command_emergency_led_fill(**kwargs):
@messaging.message_callback("flip")
def _copter_flip():
FlightLib.flip()
FlightLib.flip(frame_id=client.active_client.FRAME_ID)
@messaging.message_callback("takeoff")
def _command_takeoff(**kwargs):