Changeset 129 in flair-src for trunk

Timestamp:

Jan 19, 2017, 9:31:41 AM (8 years ago)

Author:

Sanahuja Guillaume

Message:

resolution bug vrpn client pas demarré

Location:

trunk

Files:

• demos/CircleFollower/uav/src/CircleFollower.cpp (modified) (1 diff)
• demos/SimpleFleet/uav/src/SimpleFleet.cpp (modified) (1 diff)
• lib/FlairMeta/src/UavStateMachine.cpp (modified) (1 diff)

trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

@@ -41 +41 @@
 CircleFollower::CircleFollower(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
     Uav* uav=GetUav();
-                
+
                 VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),10000, 80);
                 uavVrpn = new MetaVrpnObject(uav->ObjectName());
                 getFrameworkManager()->AddDeviceToLog(uavVrpn);
                 uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
+                vrpnclient->Start();
                                                                                                                                  
     startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");

trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp

@@ -53 +53 @@
     Uav* uav=GetUav();
                 
-                VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),10000, 80);
-                uavVrpn = new MetaVrpnObject(uav->ObjectName());
-                getFrameworkManager()->AddDeviceToLog(uavVrpn);
-                uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
+        VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),10000, 80);
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+        getFrameworkManager()->AddDeviceToLog(uavVrpn);
+        uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
+        vrpnclient->Start();
 
     circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -666 +666 @@
 
 void UavStateMachine::EnterFailSafeMode(void) {
-  SetAltitudeMode(AltitudeMode_t::Manual);
+  if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
   SetOrientationMode(OrientationMode_t::Manual);
   SetThrustMode(ThrustMode_t::Default);