From d535a9f71783033f1ecc9f7aab45344b7712334e Mon Sep 17 00:00:00 2001
From: bucyril <bucyril@student.ethz.ch>
Date: Mon, 3 Apr 2017 14:40:17 +0200
Subject: [PATCH] CrazyRadio is now working
---
pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index ee4f562e..1734c465 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -94,8 +94,8 @@ class PPSRadioClient:
def motorCommandCallback(data):
"""Callback for motor controller actions"""
- cf_client._send_to_commander(0, 0, 0, 0, data.cmd1, data.cmd2, data.cmd3, 40, CONTROLLER_MOTOR)
- rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.cmd1,data.cmd2,data.cmd3,data.cmd4)
+ cf_client._send_to_commander(0, 0, 0, 0, data.cmd1 * 10000, data.cmd2 * 10000, data.cmd3 * 10000, data.cmd4 * 10000, CONTROLLER_MOTOR)
+ rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.cmd1, data.cmd2, data.cmd3, data.cmd4)
def angleCommandCallback(data):
"""Callback for angle controller actions"""
@@ -135,8 +135,8 @@ if __name__ == '__main__':
rospy.Subscriber("/PPSClient/RateCommand", RateCommand, rateCommandCallback)
rospy.spin()
- rospy.loginfo("Setting crazyflie setpoint to 0")
- cf_client._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, 0)
+ rospy.loginfo("Turning off crazyflie")
+ cf_client._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, CONTROLLER_MOTOR)
cf_client._cf.close_link()
else:
rospy.logerr("No Crazyflies found")
--
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