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add longer waiting on LIDAR

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Sem van der Hoeven
2023-06-05 17:09:57 +02:00
parent c967eea3f2
commit 582e65126e
2 changed files with 11 additions and 5 deletions
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8
src/drone_controls/src/PositionChanger.cpp
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@@ -256,14 +256,14 @@ public:
*/
void check_lidar_health()
{
if (!this->received_lidar_message && !this->failsafe_enabled && this->lidar_health_checks > 10)
if (!this->received_lidar_message && !this->failsafe_enabled && this->lidar_health_checks > 20)
{
RCLCPP_WARN(this->get_logger(), "Lidar not sending messages, enabling failsafe");
enable_failsafe(u"No healthy connection to LIDAR!");
enable_failsafe(u"No healthy connection to LIDAR! Check the LIDAR USB cable and restart the drone.");
}
this->received_lidar_message = false;
this->has_received_first_lidar_message = true;
if (this->lidar_health_checks <= 10)
if (this->lidar_health_checks <= 20)
{
this->lidar_health_checks++;
}
@@ -297,7 +297,7 @@ public:
if (!this->failsafe_enabled)
{
if (!this->has_received_first_lidar_message) {
this->enable_failsafe(u"Waiting for LIDAR timed out! Consider restarting the drone.");
this->enable_failsafe(u"Waiting for LIDAR timed out! Check the LIDAR USB connection and consider restarting the drone.");
return;
}
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);