Fixed bug with navdata handling & improved initialization #41
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…ld grow in size. This bug was introduced when moving local scope message variables to class-level. This move meant that messages wouldn't be reset after being sent. This was not a problem for non-array type message members, which were reassigned before being sent. However for array-type message members, which are filled using .push_back, no reset occurred. This fix appropriately clears these members before re-filling them on every send-loop.
…g the first time that navdata is sent
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I've now added the TODO print of navdata_demo state. Also, I tested the navdata_demo bug that @JakobEngel mentioned, and couldn't reproduce it: [ INFO] [1354021877.508817431]: Navdata Publish Settings:
[ INFO] [1354021877.508839283]: Legacy Mode: On
[ INFO] [1354021877.508863820]: ROS Loop Rate: 50
[ INFO] [1354021877.508885633]: Instant New Navdata Publish: On
[ INFO] [1354021877.508901832]: Drone Send Speed: 200Hz (navdata_demo=0)
# rostopic hz /ardrone/navdata_gyros_offsets
subscribed to [/ardrone/navdata_gyros_offsets]
average rate: 196.113
min: 0.000s max: 0.031s std dev: 0.00430s window: 195
[ INFO] [1354021928.585211517]: Navdata Publish Settings:
[ INFO] [1354021928.585280838]: Legacy Mode: On
[ INFO] [1354021928.585344546]: ROS Loop Rate: 50
[ INFO] [1354021928.585415812]: Instant New Navdata Publish: On
[ INFO] [1354021928.585488047]: Drone Send Speed: 15Hz (navdata_demo=1)
# rostopic hz /ardrone/navdata_gyros_offsets
subscribed to [/ardrone/navdata_gyros_offsets]
average rate: 15.322
min: 0.055s max: 0.079s std dev: 0.00623s window: 15
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mani-monaj
added a commit
that referenced
this pull request
Nov 27, 2012
Fixed bug with navdata handling & improved initialization
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I am still seeing the bug where vectors endlessly grow in the latest dev-unstable. For instance, when looking at tags, the tags_xc vector grows with each new image (or so it seems). |
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This bug was introduced when changing the new-style navdata message variable from local, to class scope. This meant it wasn't recreated on every send loop.
This is not a problem for non-array message members, which were overwritten with the new value before being sent. However array-typed members of the message (for example detections in navdata_vision_detect), were not cleared between loops, and the data would simply accumulate through .push_back(...).
Now I clear the array types before pushing the new data into them.
I have also changed the initialization, such that it occurs in configureDrone(), rather than occurring the first time a message is sent.