Changeset 157 in flair-src for trunk/lib/FlairMeta/src/UavStateMachine.cpp

Timestamp:

03/04/17 15:29:18 (7 years ago)

Author:

Sanahuja Guillaume

Message:

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File:

• trunk/lib/FlairMeta/src/UavStateMachine.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -460 +460 @@
   flagZTrajectoryFinished = false;
 
-    if((altitudeState==AltitudeState_t::Stopped) && safeToFly) {// && GetBatteryMonitor()->IsBatteryLow()==false)
-        //The uav always takes off in fail safe mode
-        EnterFailSafeMode();
-        joy->SetLedOFF(4);//DualShock3::led4
-        joy->SetLedOFF(1);//DualShock3::led1
-        joy->Rumble(0x70);
-        joy->SetZRef(0);
+  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()) {// && GetBatteryMonitor()->IsBatteryLow()==false)
+    //The uav always takes off in fail safe mode
+    EnterFailSafeMode();
+    joy->SetLedOFF(4);//DualShock3::led4
+    joy->SetLedOFF(1);//DualShock3::led1
+    joy->Rumble(0x70);
+    joy->SetZRef(0);
 
     uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa
@@ -481 +481 @@
     SignalEvent(Event_t::TakingOff);
   } else {
+    Warn("cannot takeoff\n");
     joy->ErrorNotify();
   }