small details. Now try downstairs

pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp

@@ -33,4 +33,5 @@ void MainWindow::on_RF_Connect_button_clicked()
     std_msgs::Int32 msg;
     msg.data = CMD_RECONNECT;
     crazyRadioCommandPublisher.publish(msg);
+    ROS_INFO("command reconnect published");
 }

pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp

@@ -72,7 +72,7 @@ void rosNodeThread::run()
         // cmd_msg.linear.x = m_speed;
         // cmd_msg.angular.z = m_angle;
         pMutex->unlock();
-        ROS_INFO("RUNNING");
+        // ROS_INFO("RUNNING");
 
         // sim_velocity.publish(cmd_msg);
         ros::spinOnce();

pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py

@@ -83,7 +83,7 @@ class PPSRadioClient:
         # Connect to the Crazyflie
         print "Connecting to %s" % link_uri
 
-        self.connect();
+        # self.connect();
 
     def connect(self):
         self.status = CONNECTING
@@ -163,11 +163,12 @@ class PPSRadioClient:
         pk.data = struct.pack('<fffHHHHHH', roll * RAD_TO_DEG, pitch * RAD_TO_DEG, yaw * RAD_TO_DEG, thrust, cmd1, cmd2, cmd3, cmd4, mode)
         self._cf.send_packet(pk)
 
-    def crazyRadioCommandCallback(data):
+def crazyRadioCommandCallback(data):
         """Callback to tell CrazyRadio to reconnect"""
+        print "crazyRadio command received"
         if data == CMD_RECONNECT:            # reconnect, check status first and then do whatever needs to be done
-            if self.status == DISCONNECTED:
-                self.connect()
+            if cf_client.status == DISCONNECTED:
+                cf_client.connect()
 
 def controlCommandCallback(data):
     """Callback for controller actions"""
@@ -194,15 +195,16 @@ if __name__ == '__main__':
     rospy.loginfo("Crazyradio connecting to %s" % radio_address)
 
     #use this following two lines to connect without data from CentralManager
-    #radio_address = "radio://0/72/2M"
-    #rospy.loginfo("manual address loaded")
+    # radio_address = "radio://0/72/2M"
+    # rospy.loginfo("manual address loaded")
+
     global cfbattery_pub
     cfbattery_pub = rospy.Publisher('cfbattery', Float32, queue_size=10)
 
     global cf_client
 
     cf_client = PPSRadioClient(radio_address)
-    rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback)
+    rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, crazyRadioCommandCallback)
 
     time.sleep(1.0)