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drone: Add docstrings to mavros wrapper, decrease timeouts

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This commit is contained in:
Arthur Golubtsov
2020-06-24 23:09:05 +03:00
parent 1a3bfc9efe
commit dd4118e67b
1 changed files with 8 additions and 3 deletions
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11
drone/modules/mavros_wrapper.py
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@@ -129,18 +129,23 @@ def stop_subscriber():
heartbeat_sub_status = False
def get_amsl_altitude():
'''
Height above mean sea level in meters.
'''
try:
alt_msg = rospy.wait_for_message('/mavros/altitude', Altitude, timeout=1.)
alt_msg = rospy.wait_for_message('/mavros/altitude', Altitude, timeout=0.5)
except rospy.ROSException:
logger.error("Can't get altitude: timeout")
return float('nan')
else:
return alt_msg.amsl
#Clockwise compass heading in degrees. 0 is North.
def get_compass_hdg():
'''
Clockwise compass heading in degrees. 0 is North.
'''
try:
hdg_msg = rospy.wait_for_message('/mavros/global_position/compass_hdg', Float64, timeout=1.)
hdg_msg = rospy.wait_for_message('/mavros/global_position/compass_hdg', Float64, timeout=0.5)
except rospy.ROSException:
logger.error("Can't get altitude: timeout")
return float('nan')