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Commit 7369d499 authored by Tobias's avatar Tobias
Browse files

now the load is measured instead of link angles...

parent 04a9ac7a
......@@ -372,6 +372,7 @@ void viconCallback(const ViconData& viconData)
else if(!safetyCheck(global, controllerCall.response.controlOutput))
{
setInstantController(SAFE_CONTROLLER);
changeFlyingStateTo(STATE_MOTORS_OFF);
ROS_INFO_STREAM("[PPS CLIENT] safety check failed, switching to safe controller");
}
......
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