Commit 3ee57de6 authored by muelmarc's avatar muelmarc
Browse files

update on publisher nodes for crazyradio - still not running

parent 3cf91de8
......@@ -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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