From 5212d3bfe5221a4cf37a307fd2a560d57957eace Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 19 Mar 2018 23:27:44 +0300 Subject: [PATCH] simple_offboard: PEP-8 + fixes --- clever/src/simple_offboard.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index f926aa01..11a37769 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -2,7 +2,8 @@ from __future__ import division import rospy -from geometry_msgs.msg import TransformStamped, PoseStamped, Point, PointStamped, Vector3, Vector3Stamped, TwistStamped, QuaternionStamped +from geometry_msgs.msg import TransformStamped, PoseStamped, Point, PointStamped, Vector3, \ + Vector3Stamped, TwistStamped, QuaternionStamped from sensor_msgs.msg import NavSatFix, BatteryState import tf2_ros import tf2_geometry_msgs @@ -303,7 +304,11 @@ def handle(req): def land(req): - rospy.loginfo('request %s mode' % LAND_MODE) + if not state or not state.connected: + rospy.logwarn('No connection to the FCU') + return {'message': 'No connection to the FCU'} + + rospy.loginfo('Set %s mode', LAND_MODE) res = set_mode(custom_mode=LAND_MODE) if not res.mode_sent: return {'message': 'Cannot send %s mode request' % LAND_MODE}