Commit ec56851a authored by muelmarc's avatar muelmarc
Browse files

frame for safety check

parent e0df1970
......@@ -29,6 +29,8 @@
#include "d_fall_pps/AngleCommand.h"
#include "d_fall_pps/RateCommand.h"
#include "d_fall_pps/MotorCommand.h"
#include "d_fall_pps/CrazyflieContext.h"
using namespace d_fall_pps;
......@@ -47,9 +49,17 @@ ros::Publisher motorCommandPublisher;
//ros::NodeHandle nodeHandle;
//acceptance test for crazyflie position and attitude
bool safetyCheck(ViconData data){
CrazyflieContext CrazyflieContext;
return true;
//extract data from "data" and publish/add to service for controller
//not void: sould give back controlldata
void ppsClientToController(ViconData data){
void ppsClientToController(ViconData data, bool autocontrol){
if(data.crazyflieName == cflie){
/* unnecessairy: just send data!!!!!
d_fall_pps::ViconData myDataToPublish;
......@@ -111,8 +121,10 @@ void viconCallback(const d_fall_pps::ViconData& data){
//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
//ROS_INFO("My crazyflie is:"); ROS_INFO_STREAM(cflie);
//extract data from "data" and publish/add to service for controller
//forward data to safety check
bool autocontrolOn = safetyCheck(data);
ppsClientToController(data, autocontrolOn);
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