Commit 6070121e authored by roangel's avatar roangel
Browse files

deubg messages

parent 872ba81d
......@@ -754,6 +754,8 @@ void CFBatteryCallback(const std_msgs::Float32& msg)
// filter and check if inside limits, and if, change status
// need to do the filtering first
float filtered_battery_voltage = movingAverageBatteryFilter(m_battery_voltage); //need to perform filtering here
ROS_INFO_STREAM("filtered data: " << filtered_battery_voltage);
if((flying_state != STATE_MOTORS_OFF && (filtered_battery_voltage < m_battery_threshold_while_flying)) ||
(flying_state == STATE_MOTORS_OFF && (filtered_battery_voltage < m_battery_threshold_while_motors_off)))
{
......
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