KILand.cpp

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#include "KILand.h"
#include "../DroneController.h"
#include "../ControlNode.h"


KILand::KILand(void)
{
        fresh = true;
        command = "land";
}


KILand::~KILand(void)
{
}

bool KILand::update(const uga_tum_ardrone::filter_stateConstPtr statePtr)
{
        if(fresh)
        {
                node->sendLand();
                printf("issuing land!\n");
        }
        fresh = false;

        // TODO: maybe do something better here, like still controlling x, y, yaw pos...
        node->sendControlToDrone(node->hoverCommand);
        controller->clearTarget();
        return true;
}