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Prevent crashes by retrying auto-init if the drone fails to takeoff #57

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Prevent crashes by retrying auto-init if the drone fails to takeoff #57

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13 changes: 10 additions & 3 deletions src/autopilot/KI/KIAutoInit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,9 +104,16 @@ bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)

case STARTED: // wait 6s to reach hight.
if(getMS() - stageStarted > reachHeightMS)
{
stageStarted = getMS();
stage = WAIT_FOR_FIRST;
{
// check that the drone is actually flying

if (statePtr->droneState >=3 && statePtr->droneState <= 7 ) {
stageStarted = getMS();
stage = WAIT_FOR_FIRST;
} else {
// something went wrong, try again
stage = NONE;
}
}
node->sendControlToDrone(node->hoverCommand);
return false;
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6 changes: 5 additions & 1 deletion src/stateestimation/PTAMWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1000,7 +1000,11 @@ void PTAMWrapper::on_key_down(int key)
bool PTAMWrapper::handleCommand(std::string s)
{
if(s.length() == 5 && s.substr(0,5) == "space")
{
{
if (mpTracker == 0) {
ROS_INFO("Haven't received the first video frame yet, can't start the tracker");
return true;
}
mpTracker->pressSpacebar();
}

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