From 3ee57de6cbca6daa4b2c2c31ac515f4b077a24ee Mon Sep 17 00:00:00 2001
From: muelmarc <muelmarc@student.ethz.ch>
Date: Thu, 30 Mar 2017 11:39:50 +0200
Subject: [PATCH] update on publisher nodes for crazyradio - still not running
---
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 13 +++++--------
1 file changed, 5 insertions(+), 8 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index fe0953e6..7846a817 100644
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -66,16 +66,13 @@ void viconCallback(const d_fall_pps::ViconData& data){
//Send to Crayzradio>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-void CControlMgr::callbackRunRateController(const ros::TimerEvent&)
+void callbackRunRateController(const ros::TimerEvent&)
{
- if(m_pRateController!=NULL)
- if(m_pRateController->fIsInit())
- {
- DistributePowerAndSendToCrazyflie(m_pRateController->computeOutput());
- }
+ DistributePowerAndSendToCrazyflie(m_pRateController->computeOutput());
+
}
-void CControlMgr::DistributePowerAndSendToCrazyflie(ControllerOutput rateControllerOutput)
+void DistributePowerAndSendToCrazyflie(ControllerOutput rateControllerOutput)
{
assert(rateControllerOutput.onboardControllerType=eOnboardMotorCmdController);
assert(m_isRateOffboard==true);
@@ -89,7 +86,7 @@ void CControlMgr::DistributePowerAndSendToCrazyflie(ControllerOutput rateControl
SendToCrazyflie(rateControllerOutput);
}
-void CControlMgr::SendToCrazyflie(ControllerOutput package)
+void SendToCrazyflie(ControllerOutput package)
{
if(m_isStopped)
{
--
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