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docs: fixes to flip snippet

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This commit is contained in:
Oleg Kalachev
2019-06-07 18:34:52 +03:00
parent 0fb88bafb4
commit 789e09b7b9
1 changed files with 6 additions and 2 deletions
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8
docs/ru/snippets.md
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@@ -285,13 +285,17 @@ set_mode(custom_mode='STABILIZED')
Флип по крену:
```python
import math
# ...
def flip():
start = get_telemetry() # memorize starting position
set_rates(thrust=1) # bump up
rospy.sleep(0.2)
set_rates(roll_rate=20, thrust=0.2) # maximum roll rate
set_rates(roll_rate=30, thrust=0.2) # maximum roll rate
while True:
telem = get_telemetry()
@@ -302,7 +306,7 @@ def flip():
rospy.loginfo('finish flip')
set_position(x=start.x, y=start.y, z=start.z, yaw=start.yaw) # finish flip
print navigate(z=4, speed=1, auto_arm=True) # take off
print navigate(z=2, speed=1, frame_id='body', auto_arm=True) # take off
rospy.sleep(10)
rospy.loginfo('flip')