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Changes in telemetry

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This commit is contained in:
artem30801
2019-11-09 19:27:43 +03:00
parent d7583338c1
commit f212c532d3
1 changed files with 6 additions and 6 deletions
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12
Drone/copter_client.py
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@@ -644,14 +644,14 @@ class Telemetry:
def __init__(self):
self.git_version = None
self.animation_id = None
self.battery_v = None
self.battery_p = None
self.battery = None
self.system_status = None
self.calibration_status = None
self.mode = None
self.selfcheck = None
self.current_position = None
self.start_position = None
self.telemetry_time = None
@classmethod
def get_git_version(cls):
@@ -702,7 +702,7 @@ class Telemetry:
def get_selfcheck(cls):
check = FlightLib.selfcheck()
if not check:
check = ["OK"]
check = "OK"
return check
@classmethod
@@ -718,6 +718,7 @@ class Telemetry:
self.animation_id = animation.get_id()
self.git_version = self.get_git_version()
self.start_position = self.get_start_position()
self.telemetry_time = time.time() # TODO NTP?
services_unavailable = FlightLib.check_ros_services_unavailable()
if not services_unavailable:
@@ -729,7 +730,7 @@ class Telemetry:
try:
ros_telemetry = FlightLib.get_telemetry(client.active_client.FRAME_ID)
if ros_telemetry.connected:
self.battery_v, self.battery_p = self._get_battery(ros_telemetry)
self.battery = self._get_battery(ros_telemetry)
self.calibration_status = get_calibration_status()
self.system_status = get_sys_status()
@@ -745,8 +746,7 @@ class Telemetry:
rospy.logdebug(e)
def _reset_telemetry_values(self):
self.battery_v = float('nan')
self.battery_p = float('nan')
self.battery_v = float('nan'), float('nan')
self.calibration_status = 'NO_FCU'
self.system_status = 'NO_FCU'
self.mode = 'NO_FCU'