From 4bfa20b278ef9ddb8139614162f33b0110b6a9e4 Mon Sep 17 00:00:00 2001 From: Mani Monajjemi Date: Mon, 26 Nov 2012 19:35:04 -0800 Subject: [PATCH] Minor changes inside ROS loop. --- src/ardrone_driver.cpp | 6 +++--- src/ardrone_sdk.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/ardrone_driver.cpp b/src/ardrone_driver.cpp index dca469a..37bcc71 100644 --- a/src/ardrone_driver.cpp +++ b/src/ardrone_driver.cpp @@ -137,7 +137,7 @@ void ARDroneDriver::run() ardrone_control_config.num_version_soft, shared_raw_navdata.navdata_demo.vbat_flying_percentage); ROS_INFO("Navdata Publish Settings:"); - ROS_INFO(" Legacy Mode: %s", enabled_legacy_navdata ? "On" : "Off"); + //ROS_INFO(" Legacy Mode: %s", enabled_legacy_navdata ? "On" : "Off"); //Bug: This is being inited after in the NavdataMessage*.h ROS_INFO(" ROS Loop Rate: %d", looprate); ROS_INFO(" Instant New Navdata Publish: %s", fullspeed_navdata ? "On" : "Off"); // TODO: Enabled Navdata Demo @@ -153,8 +153,8 @@ void ARDroneDriver::run() vp_os_mutex_unlock(&video_lock); if (copy_current_frame_id != last_frame_id) { - publish_video(); last_frame_id = copy_current_frame_id; + publish_video(); } vp_os_mutex_lock(&navdata_lock); @@ -162,8 +162,8 @@ void ARDroneDriver::run() vp_os_mutex_unlock(&navdata_lock); if (copy_current_navdata_id != last_navdata_id) { - publish_navdata(); last_navdata_id = copy_current_navdata_id; + publish_navdata(); } if (freq_dev == 0) publish_tf(); diff --git a/src/ardrone_sdk.cpp b/src/ardrone_sdk.cpp index e206c02..fda17b9 100644 --- a/src/ardrone_sdk.cpp +++ b/src/ardrone_sdk.cpp @@ -247,7 +247,7 @@ extern "C" { THREAD_TABLE_ENTRY(video_stage, 31) THREAD_TABLE_ENTRY(update_ros, 43) THREAD_TABLE_ENTRY(video_recorder, 20) - THREAD_TABLE_ENTRY(navdata_update, 31) + THREAD_TABLE_ENTRY(navdata_update, 31) // THREAD_TABLE_ENTRY(ATcodec_Commands_Client, 43) THREAD_TABLE_ENTRY(ardrone_control, 31) END_THREAD_TABLE