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Fixes flightlib

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This commit is contained in:
Artem30801
2019-03-21 21:32:17 +03:00
parent f2c674ddf5
commit 4ee4dc4616
1 changed files with 4 additions and 4 deletions
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8
Drone/FlightLib2/FlightLib.py
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@@ -203,7 +203,7 @@ def land(descend=True, z=1.0, frame_id_descend="aruco_map", frame_id_land="aruco
reach_attitude(z=z, frame_id=frame_id_descend, timeout=timeout_descend, freq=freq)
landing()
telemetry = get_telemetry(frame_id='aruco_map')
telemetry = get_telemetry(frame_id=frame_id_land)
rate = rospy.Rate(1000 / wait_ms)
time_start = rospy.get_rostime()
@@ -213,7 +213,7 @@ def land(descend=True, z=1.0, frame_id_descend="aruco_map", frame_id_land="aruco
interrupt_event.clear()
break
telemetry = get_telemetry(frame_id='aruco_map')
telemetry = get_telemetry(frame_id=frame_id_land)
module_logger.info("Landing...")
time_passed = (rospy.get_rostime() - time_start).to_sec() * 1000
@@ -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_takeoff, auto_arm=True)
telemetry = get_telemetry(frame_id=frame_id)
rate = rospy.Rate(freq)
@@ -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: