auto_arm parameter for services

2026-05-27 05:29:32 +00:00 · 2017-11-29 19:55:57 +03:00
parent 0c6f6c29ae
commit 81d3843817
13 changed files with 13 additions and 2 deletions
--- a/clever/CMakeLists.txt
+++ b/clever/CMakeLists.txt
@@ -71,7 +71,6 @@ add_service_files(
  SetAttitudeYawRate.srv
  SetRatesYaw.srv
  SetRates.srv
-  GetTelemetry.srv
 )

 ## Generate actions in the 'action' folder
--- a/clever/src/simple_offboard.py
+++ b/clever/src/simple_offboard.py
@@ -278,7 +278,9 @@ def handle(req):
                current_msg.header.stamp = stamp
                current_pub.publish(current_msg)

-        offboard_and_arm()
+        if req.auto_offboard:
+            offboard_and_arm()
+
        return {'success': True}

    except Exception as e:
--- a/clever/srv/SetAttitude.srv
+++ b/clever/srv/SetAttitude.srv
@@ -4,6 +4,7 @@ float32 yaw
 float32 thrust
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetAttitudeYawRate.srv
+++ b/clever/srv/SetAttitudeYawRate.srv
@@ -2,6 +2,7 @@ float32 roll
 float32 pitch
 float32 yaw_rate
 float32 thrust
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetPosition.srv
+++ b/clever/srv/SetPosition.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetPositionGlobal.srv
+++ b/clever/srv/SetPositionGlobal.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetPositionGlobalYawRate.srv
+++ b/clever/srv/SetPositionGlobalYawRate.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw_rate
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetPositionYawRate.srv
+++ b/clever/srv/SetPositionYawRate.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw_rate
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetRates.srv
+++ b/clever/srv/SetRates.srv
@@ -2,6 +2,7 @@ float32 pitch_rate
 float32 roll_rate
 float32 yaw_rate
 float32 thrust
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetRatesYaw.srv
+++ b/clever/srv/SetRatesYaw.srv
@@ -4,6 +4,7 @@ float32 yaw
 float32 thrust
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetVelocity.srv
+++ b/clever/srv/SetVelocity.srv
@@ -4,6 +4,7 @@ float32 vz
 float32 yaw
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/clever/srv/SetVelocityYawRate.srv
+++ b/clever/srv/SetVelocityYawRate.srv
@@ -4,6 +4,7 @@ float32 vz
 float32 yaw_rate
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
--- a/deploy/clever_arudino.tar.gz
+++ b/deploy/clever_arudino.tar.gz