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Drone: Update copter client

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This commit is contained in:
Arthur Golubtsov
2020-05-21 02:45:03 +03:00
parent e399915c78
commit 7311e5b59a
1 changed files with 4 additions and 3 deletions
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7
Drone/copter_client.py
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@@ -94,6 +94,7 @@ class CopterClient(client.Client):
super(CopterClient, self).__init__(config_path)
self.load_config()
self.frames = {}
self.telemetry = None
def load_config(self):
super(CopterClient, self).load_config()
@@ -109,7 +110,8 @@ class CopterClient(client.Client):
LedLib.init_led(self.config.led_pin)
task_manager_instance.start() # TODO move to self
start_subscriber()
telemetry.start_loop()
self.telemetry = Telemetry()
self.telemetry.start_loop()
if self.config.copter_frame_id == "floor":
self.start_floor_frame_broadcast()
elif self.config.copter_frame_id == "gps":
@@ -135,7 +137,7 @@ class CopterClient(client.Client):
def gps_frame_broadcast_loop(self):
rate = rospy.Rate(1)
while not rospy.is_shutdown():
telem = telemetry.get_ros_telemetry()
telem = self.telemetry.get_ros_telemetry()
if telem is not None:
if math.isnan(telem.lat) or math.isnan(telem.lon) or math.isnan(telem.x) or math.isnan(telem.y):
logger.info("Can't get position from telemetry")
@@ -943,7 +945,6 @@ def emergency_callback(data):
if __name__ == "__main__":
telemetry = Telemetry()
copter_client = CopterClient()
task_manager = tasking.TaskManager()
rospy.Subscriber('/emergency', Bool, emergency_callback)