From f212c532d343b095e0f9cf1ca9fc4a079401dd5a Mon Sep 17 00:00:00 2001 From: artem30801 Date: Sat, 9 Nov 2019 19:27:43 +0300 Subject: [PATCH] Changes in telemetry --- Drone/copter_client.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Drone/copter_client.py b/Drone/copter_client.py index 7c3bc70..66b5e1c 100644 --- a/Drone/copter_client.py +++ b/Drone/copter_client.py @@ -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'