Client: modify calibration response and reduce timeout in service check

CopterExpress · Oct 25, 2019 · d33cc0c · d33cc0c
1 parent 1adade0
commit d33cc0c
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/Drone/FlightLib/FlightLib.py b/Drone/FlightLib/FlightLib.py
@@ -91,7 +91,7 @@ def _check_nans(*values):
 
 @check("Ros services")
 def check_ros_services():
-    timeout = 5.0
+    timeout = 0.1
     for service in services_list:
         try:
             service.wait_for_service(timeout=timeout)

diff --git a/Drone/copter_client.py b/Drone/copter_client.py
@@ -301,7 +301,11 @@ def _response_sys_status(*args, **kwargs):
 
 @messaging.request_callback("cal_status")
 def _response_cal_status(*args, **kwargs):
-    return get_calibration_status()
+    if check_state_topic(wait_new_status=True):
+        return get_calibration_status()
+    else:
+        stop_subscriber()
+        return "NOT_CONNECTED_TO_FCU"
 
 @messaging.request_callback("position")
 def _response_position(*args, **kwargs):