Merge pull request #38 from mikehamer/master

navdata_packet.header now filled, also using cmd_vel.angular.x/y != 0 for hover

src/ardrone_sdk.cpp

@@ -12,9 +12,6 @@ navdata_wind_speed_t shared_navdata_wind;
 navdata_time_t shared_arnavtime;
 navdata_unpacked_t shared_raw_navdata;
 
-bool command_disable_hover;
-bool command_always_send;
-
 vp_os_mutex_t navdata_lock;
 vp_os_mutex_t video_lock;
 vp_os_mutex_t twist_lock;
@@ -66,14 +63,6 @@ extern "C" {
         }
 
 
-        command_disable_hover = false; //disables the drone from entering the hover state - constant dynamics rather than onboard state changes
-        command_always_send = false;   //constantly sends navdata messages to the drone, even if the messages haven't changed
-        ros::param::param("~command_disable_hover", command_disable_hover, false);
-        ros::param::param("~command_always_send"  , command_always_send,   false);
-        ROS_INFO("Hovering is %s",(command_disable_hover?"DISABLED!":"Enabled."));
-        ROS_INFO("Will %s send duplicate commands.",(command_always_send?"ALWAYS":"not"));
-
-
         // SET SOME NON-STANDARD DEFAULT VALUES FOR THE DRIVER
         // THESE CAN BE OVERWRITTEN BY ROS PARAMETERS (below)
         ardrone_application_default_config.bitrate_ctrl_mode = VBC_MODE_DISABLED;

src/ardrone_sdk.h

@@ -54,9 +54,6 @@ extern navdata_magneto_t shared_navdata_magneto;
 extern navdata_wind_speed_t shared_navdata_wind;
 extern navdata_unpacked_t shared_raw_navdata;
 
-extern bool command_disable_hover;
-extern bool command_always_send;
-
 extern vp_os_mutex_t navdata_lock;
 extern vp_os_mutex_t video_lock;
 extern vp_os_mutex_t twist_lock;

src/teleop_twist.cpp

@@ -155,8 +155,7 @@ C_RESULT update_teleop(void)
                 (fabs(turn) < _EPS)
                 );
 
-        if(command_disable_hover) hover = 1; //force the hover flag to 1 (0 == enter hover) if we want to disable the hover state
-        if(command_always_send)   is_changed = true; //force the packet to send if so desired
+        if(cmd_vel.angular.x > _EPS || cmd_vel.angular.y > _EPS) hover=1; //set angular.x or angular.y to a non-zero value to disable entering hover
 
         control_flag |= (hover << 0);
         control_flag |= (combined_yaw << 1);