Commit 2fe0ab3f authored by muelmarc's avatar muelmarc
Browse files

cleaned merging mess. compiles again.

parent 39e12c93
......@@ -88,7 +88,6 @@ void viconCallback(const ViconData& data) {
controllerCall.request.crazyflieLocation = data;
if(crazyflieEnabled){
if(!usingSafeController) {
bool success = customController.call(controllerCall);
......@@ -97,23 +96,20 @@ void viconCallback(const ViconData& data) {
usingSafeController = true;
}
<<<<<<< HEAD
usingSafeController = true; //debug
}
=======
//usingSafeController = !safetyCheck(data, controllerCall.response.controlOutput);
usingSafeController = true; //debug
}
>>>>>>> 35ebc7a2596fd78d41ddf285cf809c7b0991afb5
if(usingSafeController) {
bool success = safeController.call(controllerCall);
if(!success) {
ROS_ERROR("Failed to call safe controller");
}
}
<<<<<<< HEAD
}
/*
if(!safetyCheck(data, controllerCall.response.controlOutput)){
ROS_INFO_STREAM("AutocontrolOn >>>>>> SWITCHED OFF");
......@@ -148,15 +144,14 @@ void viconCallback(const ViconData& data) {
bag.write("testfoo: ", ros::Time::now(), str);
bag.write("test42: ", ros::Time::now(), i);
=======
*/
controlCommandPublisher.publish(controllerCall.response.controlOutput);
controlCommandPublisher.publish(controllerCall.response.controlOutput);
} else{ //crazyflie disabled
ControlCommand zeroOutput = ControlCommand(); //everything set to zero
zeroOutput.onboardControllerType = 2; //set to motor_mode
controlCommandPublisher.publish(zeroOutput);
}
>>>>>>> 35ebc7a2596fd78d41ddf285cf809c7b0991afb5
}
}
......
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