Commit 7acbba92 authored by roangel's avatar roangel
Browse files

now when occluded it also is disabled

parent b274e94f
......@@ -116,7 +116,7 @@ void viconCallback(const ViconData& viconData) {
for(std::vector<CrazyflieData>::const_iterator it = viconData.crazyflies.begin(); it != viconData.crazyflies.end(); ++it) {
CrazyflieData global = *it;
if(!global.occluded) //if it is not occluded, then proceed to compute the controller output
if(!global.occluded || !crazyflieEnabled) //if it is not occluded, then proceed to compute the controller output. If the command is disabled, even if it is occluded, disable crazyflie
{
if(global.crazyflieName == context.crazyflieName) {
Controller controllerCall;
......
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