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Flightlib2: fix typos

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Arthur Golubtsov
2019-03-21 23:08:45 +00:00
parent f2c674ddf5
commit 346baea8ac
1 changed files with 6 additions and 6 deletions
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12
Drone/FlightLib2/FlightLib.py
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@@ -166,7 +166,7 @@ def reach_attitude(z=0.0, yaw=float('nan'), speed=1.0, tolerance=TOLERANCE, fram
module_logger.info('Reaching attitude: | z: {:.3f} yaw: {:.3f}'.format(z, yaw))
current_telem = get_telemetry(frame_id=frame_id)
navigate(frame_id=frame_id, x=current_telem.x, y=current_telem.xy, z=z, yaw=yaw, speed=speed)
navigate(frame_id=frame_id, x=current_telem.x, y=current_telem.y, z=z, yaw=yaw, speed=speed)
# waiting for completion
telemetry = get_telemetry(frame_id=frame_id)
@@ -204,7 +204,7 @@ def land(descend=True, z=1.0, frame_id_descend="aruco_map", frame_id_land="aruco
landing()
telemetry = get_telemetry(frame_id='aruco_map')
rate = rospy.Rate(1000 / wait_ms)
rate = rospy.Rate(freq)
time_start = rospy.get_rostime()
while telemetry.armed:
@@ -233,7 +233,7 @@ def takeoff(z=1.0, speed=0.5, frame_id='body', freq=FREQUENCY,
timeout_arm=750, timeout_takeoff=5000, wait=False, emergency_land=True):
module_logger.info("Starting takeoff!")
module_logger.info("Arming, going to OFFBOARD mode")
navigate(frame_id=frame_id_takeoff, speed=speed_takeoff, auto_arm=True)
navigate(frame_id=frame_id, speed=speed, auto_arm=True)
telemetry = get_telemetry(frame_id=frame_id)
rate = rospy.Rate(freq)
@@ -245,11 +245,11 @@ def takeoff(z=1.0, speed=0.5, frame_id='body', freq=FREQUENCY,
interrupt_event.clear()
return None
telemetry = get_telemetry(frame_id=frame_id_takeoff)
telemetry = get_telemetry(frame_id=frame_id)
module_logger.info("Arming...")
time_passed = (rospy.get_rostime() - time_start).to_sec() * 1000
if timeout is not None:
if timeout_arm is not None:
if time_passed >= timeout_arm:
module_logger.warning('Arming timed out! | time: {:3f} seconds'.format(time_passed / 1000))
return False
@@ -257,7 +257,7 @@ def takeoff(z=1.0, speed=0.5, frame_id='body', freq=FREQUENCY,
module_logger.info("Armed!")
result = reach_point(z=z, speed=speed, frame_id=frame_id_takeoff, timeout=timeout_takeoff, freq=freq, wait=wait)
result = reach_point(z=z, speed=speed, frame_id=frame_id, timeout=timeout_takeoff, freq=freq, wait=wait)
if result:
module_logger.info("Takeoff succeeded!")
else: