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Safety feature: Landing automatically when the driver node exits #67

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Safety feature: Landing automatically when the driver node exits #67

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2 changes: 2 additions & 0 deletions src/ardrone_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -885,6 +885,8 @@ int main(int argc, char** argv)
{
res = ardrone_tool_update();
}
landOnExit();
ardrone_tool_update();
res = ardrone_tool_shutdown();
}
return SUCCEED(res) ? 0 : -1;
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7 changes: 7 additions & 0 deletions src/teleop_twist.cpp
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Expand Up @@ -115,6 +115,13 @@ void takeoffCallback(const std_msgs::Empty &msg)
vp_os_mutex_unlock(&twist_lock);
}

void landOnExit(void)
{
vp_os_mutex_lock(&twist_lock);
needs_land = true;
vp_os_mutex_unlock(&twist_lock);
}

C_RESULT open_teleop(void)
{
return C_OK;
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2 changes: 2 additions & 0 deletions src/teleop_twist.h
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Expand Up @@ -25,6 +25,8 @@ bool setLedAnimationCallback(ardrone_autonomy::LedAnim::Request& request, ardron
bool flatTrimCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
bool setFlightAnimationCallback(ardrone_autonomy::FlightAnim::Request& request, ardrone_autonomy::FlightAnim::Response& response);

void landOnExit(void);

//All global drone configs that should be sent on init

#define DEFAULT_CAM_STATE 0
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