removed duplicit check of control manager diagnostics, updated comments

config/public/automatic_start.yaml

@@ -8,9 +8,8 @@ pre_takeoff_sleep: 0.0 # [s]
 safety_timeout: 5.0 # [s]
 
 # true: will cause the UAV to take off
-# false: will switch the drone to offboard, but the service
-#     uav_manager/takeoff
-# needs to be called manually.
+# false: will perform all checks and enable control output, but the service
+#     uav_manager/takeoff needs to be called manually.
 handle_takeoff: true
 
 preflight_check:
@@ -21,16 +20,15 @@ preflight_check:
 
     max_speed: 0.3 # [m/s]
 
-  # the node with wait for the following topics and won't allow
+  # the node will wait for the following topics and won't allow
   # takeoff until some data apear on them
   topic_check:
 
     enabled: true
     timeout: 5.0 # [s], allowed timeout for the last accepted message
 
     # if "/" is provided at the beginning of topic_name, the topic name is considered as written,
-    # if there is no "/" at the beginning, UAV_NAME is automatically added in from of the topic name (/uav1/topic_name)
+    # if there is no "/" at the beginning, UAV_NAME is automatically added in front of the topic name (e.g., /uav1/topic_name)
     topics: [
       "estimation_manager/uav_state",
-      "control_manager/diagnostics",
     ]

src/automatic_start.cpp

@@ -67,7 +67,7 @@ typedef enum
   STATE_FINISHED
 } LandingStates_t;
 
-const char* state_names[4] = {"IDLING", "TAKEOFF", "FINISHED"};
+const char* state_names[3] = {"IDLING", "TAKEOFF", "FINISHED"};
 
 class AutomaticStart : public nodelet::Nodelet {
 
@@ -404,7 +404,7 @@ void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
 
   if (!got_control_manager_diag || !got_hw_api_status_ || !got_uav_manager_diag || !got_estimation_diag) {
-    ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+    ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControlManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api_status_ ? "true" : "FALSE",
                       got_estimation_diag ? "true" : "FALSE");
     return;