Update copter_takeoff.py #28946
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Update copter_takeoff.py #28946
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@tizianofiorenzani Thoughts? |
khancyr
suggested changes
Dec 30, 2024
| @@ -165,7 +165,7 @@ def main(args=None): | |||
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| is_ascending_to_takeoff_alt = node.get_cur_geopose().pose.position.altitude < TAKEOFF_ALT | |||
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| if is_ascending_to_takeoff_alt: | |||
| if not is_ascending_to_takeoff_alt: | |||
There was a problem hiding this comment.
is_ascending_to_takeoff_alt need to be false to exit the while loop. and false mean that we are >= TAKEOFF_ALT and that is what we want.
So this patch is wrong
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I tested this, as soon as the copter arms, the script exits. It hasn't achieved the takeoff altitude. ros2 launch ardupilot_sitl sitl_dds_udp.launch.pypython3 copter_takeoff.py
[INFO] [1735588139.197570929] [copter_takeoff]: From AP : Geopose [sec:1735588138, nsec: 808770000]
[INFO] [1735588140.199427570] [copter_takeoff]: From AP : Geopose [sec:1735588139, nsec: 813368000]
[INFO] [1735588141.208486093] [copter_takeoff]: From AP : Geopose [sec:1735588140, nsec: 822131000]
[INFO] [1735588141.215702203] [copter_takeoff]: From AP : Geopose [sec:1735588140, nsec: 857117000]
[INFO] [1735588142.217510642] [copter_takeoff]: From AP : Geopose [sec:1735588141, nsec: 854218000]
[INFO] [1735588143.225571754] [copter_takeoff]: From AP : Geopose [sec:1735588142, nsec: 845488000]
[INFO] [1735588144.233773105] [copter_takeoff]: From AP : Geopose [sec:1735588143, nsec: 871748000]
[INFO] [1735588145.242969200] [copter_takeoff]: From AP : Geopose [sec:1735588144, nsec: 851356000]
[INFO] [1735588145.245269012] [copter_takeoff]: From AP : Geopose [sec:1735588144, nsec: 886342000]
[INFO] [1735588146.252197977] [copter_takeoff]: From AP : Geopose [sec:1735588145, nsec: 871781000]
[INFO] [1735588147.260882087] [copter_takeoff]: From AP : Geopose [sec:1735588146, nsec: 874713000] |
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add a not before is_ascending_to_takeoff_alt