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drone: Fix failsafe module from renaming

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This commit is contained in:
Arthur Golubtsov
2020-06-03 15:45:30 +03:00
parent 1b7f70e7e0
commit d9d82992fe
1 changed files with 14 additions and 14 deletions
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28
drone/failsafe.py
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@@ -8,9 +8,9 @@ import threading
# for backward compatibility with clever
try:
from clever import SetAttitude
from clever import srv
except ImportError:
from clover import SetAttitude
from clover import srv
from sensor_msgs.msg import Range
from mavros_msgs.msg import State, PositionTarget
@@ -19,23 +19,23 @@ from std_msgs.msg import Bool
from std_srvs.srv import Trigger, TriggerResponse
from geometry_msgs.msg import PoseStamped
import inspect # Add parent dir to PATH to import messaging_lib
current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parent_dir = os.path.dirname(current_dir)
sys.path.insert(0, parent_dir)
# Add parent dir to PATH to import messaging_lib and config_lib
current_dir = (os.path.dirname(os.path.realpath(__file__)))
lib_dir = os.path.realpath(os.path.join(current_dir, '../lib'))
sys.path.insert(0, lib_dir)
from config import ConfigManager
config = ConfigManager()
config.load_config_and_spec("config/client.ini")
watchdog_is_enabled = config.position_watchdog_enabled
log_state = config.position_watchdog_log_state
vision_pose_delay_after_arm = config.position_watchdog_vision_pose_delay_after_arm
visual_pose_timeout = config.position_watchdog_vision_pose_timeout
pos_delta_max = config.position_watchdog_position_delta_max
watchdog_action = config.position_watchdog_action
timeout_to_disarm = config.position_watchdog_disarm_timeout
watchdog_is_enabled = config.failsafe_enabled
log_state = config.failsafe_log_state
vision_pose_delay_after_arm = config.failsafe_vision_pose_delay_after_arm
visual_pose_timeout = config.failsafe_vision_pose_timeout
pos_delta_max = config.failsafe_position_delta_max
watchdog_action = config.failsafe_action
timeout_to_disarm = config.failsafe_disarm_timeout
emergency_land_thrust = config.emergency_land_thrust
emergency_land_decrease_thrust_after = config.emergency_land_decrease_thrust_after
@@ -58,7 +58,7 @@ logger.addHandler(handler)
set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode)
arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
set_attitude = rospy.ServiceProxy('/set_attitude', SetAttitude)
set_attitude = rospy.ServiceProxy('/set_attitude', srv.SetAttitude)
visual_pose_last_timestamp = 0
armed = False