Annotated some lines of code.

rosflight · Jul 25, 2024 · 86df3b5 · 86df3b5
1 parent e4a6d02
commit 86df3b5
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/rosflight_sim/src/rc.py b/rosflight_sim/src/rc.py
@@ -157,7 +157,8 @@ def __init__(self):
 
         self.declare_parameter('use_vimfly', False)
         self.use_vimfly = self.get_parameter('use_vimfly').get_parameter_value().bool_value
-
+
+        # Intercept if using VimFly.
         if self.use_vimfly and not self.transmitter_detected:
             self.get_logger().info('Using VimFly...')
             self.vim_fly = VimFly()
@@ -166,7 +167,6 @@ def __init__(self):
         self.rc_publisher = self.create_publisher(RCRaw, 'RC', 10)
         self.timer = self.create_timer(1.0 / 50, self.timer_callback)
 
-
         # Transmitter detected, initialize joystick
         if self.transmitter_detected:
             self.joy.init()
@@ -187,7 +187,7 @@ def __init__(self):
                 self.transmitter_detected = False
 
         # Transmitter not detected, use simulated joystick
-        if not self.transmitter_detected and not self.use_vimfly:
+        if not self.transmitter_detected:
             self.THROTTLE_CHANNEL = 2
             self.ARM_SWITCH_CHANNEL = 4
             self.OVERRIDE_CHANNEL = 5

diff --git a/rosflight_sim/src/vimfly.py b/rosflight_sim/src/vimfly.py
@@ -38,12 +38,12 @@ def __init__(self):
         self.thrust_start_time = self.node.get_clock().now()
 
         self.armed = 1000 # Unarmed
-        self.ARM_DEBOUNCE_THRESHOLD = 0.250
+        self.ARM_DEBOUNCE_THRESHOLD = 0.500
         self.arm_debouncing = [False]
         self.arm_start_time = self.node.get_clock().now()
 
         self.RC_override = 2000 # Start under manual control
-        self.RC_OVERRIDE_DEBOUNCE_THRESHOLD = 0.250
+        self.RC_OVERRIDE_DEBOUNCE_THRESHOLD = 0.500
         self.RC_override_debouncing = [False]
         self.RC_override_start_time = self.node.get_clock().now()