Make default camera and navdata states consistent during init.

src/ardrone_driver.cpp

@@ -18,9 +18,8 @@ ARDroneDriver::ARDroneDriver()
 	//toggleCam_sub = node_handle.subscribe("/ardrone/togglecam", 10, &toggleCamCallback);
 
 #ifdef _USING_SDK_1_7_
-	//Ensure that the horizontal camera is running
-	int cam_state = 0; // horizontal
-	int set_navdata_demo_value = 1;
+	int cam_state = DEFAULT_CAM_STATE; // 0 for forward and 1 for vertical, change to enum later
+                  int set_navdata_demo_value = DEFAULT_NAVDATA_DEMO;  
 	ARDRONE_TOOL_CONFIGURATION_ADDEVENT (video_channel, &cam_state, NULL);
 	ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_demo, &set_navdata_demo_value, NULL);
 #else
@@ -41,13 +40,13 @@ void ARDroneDriver::run()
 	ros::Rate loop_rate(40);
 
 	int configWate = 250;
-	int cam_state = 0; // horizontal
-	int set_navdata_demo_value = 1; // Low bandwidth usage
 	bool configDone = false;
         
         //These are some extra params (experimental)
         int mCodec = P264_CODEC;
         int vbcMode = VBC_MODE_DYNAMIC;
+        int cam_state = DEFAULT_CAM_STATE; // 0 for forward and 1 for vertical, change to enum later
+        int set_navdata_demo_value = DEFAULT_NAVDATA_DEMO;  
         
 	while (node_handle.ok())
 	{

src/teleop_twist.cpp

@@ -7,9 +7,8 @@ bool is_flying = false;
 bool needs_reset = false;
 geometry_msgs::Twist cmd_vel;
 
-int cam_state = 0; // 0 for forward and 1 for vertical, change to enum later
-int set_navdata_demo_value = TRUE;
-
+int cam_state = DEFAULT_CAM_STATE; // 0 for forward and 1 for vertical, change to enum later
+int set_navdata_demo_value = DEFAULT_NAVDATA_DEMO;  
 
 bool toggleNavdataDemoCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
 {

src/teleop_twist.h

@@ -19,5 +19,10 @@ void takeoffCallback(const std_msgs::Empty &msg);
 bool toggleCamCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
 bool toggleNavdataDemoCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
 
+//All global drone configs that should be sent on init
+
+#define DEFAULT_CAM_STATE 0
+#define DEFAULT_NAVDATA_DEMO 1
+
 #endif