Enable Zero-Command without Hovering #34

Closed
wants to merge 1 commit into
from

Projects

None yet

3 participants

@JakobEngel

Very simple change; the drone only is set to hover mode if all six Twist parameters are zero.

=> by sending ((0,0,0),(0,0,0)) it is still set to hovering, by setting angular.x or angular.y (which currently is completely unused) to e.g. 1, it is sent a zero-command without hovering.

@mikehamer
Contributor

Hey @JakobEngel, we've implemented a fix for this in #31 and are discussing it there

@JakobEngel

yes, well, as I understand it you just add a parameter, i.e. you have to decide on startup whether to hover on 0-commands or not.

I'd like to switch hovering on/off in real-time, and I don't see why the two unused parameters in Twist shouldnt be used for that; in particular because it's more consistent with the SDK commands sent (hover yes/no is sent with every command to the drone anyway), and only requires two additional lines in the code.

@mikehamer
Contributor

Good point. Perhaps on-the-fly hover enable/disable as you've suggested is the way to go.

On a related topic, what is your opinion on reconfiguring the drone post-launch/in-flight? We have a few suggestions for the architecture in #31 which also affect the hover enable/disable – I'd be interested in your feedback. Cheers!

@mani-monaj
Member

@mikehamer I think it is better to remove the two new parameters command_disable_hover and command_always_send and implement this feature as @JakobEngel proposed.

@mikehamer
Contributor

Done, see the above pull request! :-)

@mani-monaj
Member

Fixed in #38.

@mani-monaj mani-monaj closed this Nov 23, 2012
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment