From d33cc0c32dfa3316d9cb6d4d191189ab0096cf8c Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Fri, 25 Oct 2019 12:28:55 +0100
Subject: [PATCH] Client: modify calibration response and reduce timeout in
 service check

---
 Drone/FlightLib/FlightLib.py | 2 +-
 Drone/copter_client.py       | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/Drone/FlightLib/FlightLib.py b/Drone/FlightLib/FlightLib.py
index d0c304e..40d019e 100644
--- a/Drone/FlightLib/FlightLib.py
+++ b/Drone/FlightLib/FlightLib.py
@@ -91,7 +91,7 @@ def _check_nans(*values):
 
 @check("Ros services")
 def check_ros_services():
-    timeout = 5.0
+    timeout = 0.1
     for service in services_list:
         try:
             service.wait_for_service(timeout=timeout)
diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index e60a136..6566a66 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -301,7 +301,11 @@ def _response_sys_status(*args, **kwargs):
 
 @messaging.request_callback("cal_status")
 def _response_cal_status(*args, **kwargs):
-    return get_calibration_status()
+    if check_state_topic(wait_new_status=True):
+        return get_calibration_status()
+    else:
+        stop_subscriber()
+        return "NOT_CONNECTED_TO_FCU"
 
 @messaging.request_callback("position")
 def _response_position(*args, **kwargs):