From 91b8b80735cff0a1c844609a1edda7a6c0993b4f Mon Sep 17 00:00:00 2001
From: PIMA <jondoe@ubuntu.(none)>
Date: Wed, 20 Mar 2013 07:03:32 -0700
Subject: [PATCH] make sure if the point is lost we pick that up

---
 nodes/ardrone_follow.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/nodes/ardrone_follow.py b/nodes/ardrone_follow.py
index 0e5d44c..1c26d14 100755
--- a/nodes/ardrone_follow.py
+++ b/nodes/ardrone_follow.py
@@ -219,6 +219,9 @@ class ArdroneFollow:
                 self.found_point.x = self.found_point.x * self.alpha + data.x * ( 1.0 - self.alpha )
                 self.found_point.y = self.found_point.y * self.alpha + data.y * ( 1.0 - self.alpha )
                 self.found_point.z = self.found_point.z * self.alpha + data.z * ( 1.0 - self.alpha )
+        else:
+            self.found_point = data
+
         self.found_time = rospy.Time.now()
 
     def hover( self ):