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Better argument passing #12

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Better argument passing #12

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7 changes: 3 additions & 4 deletions backyard_flyer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,15 +71,14 @@ def state_callback(self):

def calculate_box(self):
print("Setting Home")
local_waypoints = [[10.0, 0.0, 3.0], [10.0, 10.0, 3.0], [0.0, 10.0, 3.0], [0.0, 0.0, 3.0]]
local_waypoints = [[10.0, 0.0, 3.0, 0.0], [10.0, 10.0, 3.0, 0.0], [0.0, 10.0, 3.0, 0.0], [0.0, 0.0, 3.0, 0.0]]
return local_waypoints

def arming_transition(self):
print("arming transition")
self.take_control()
self.arm()
self.set_home_position(self.global_position[0], self.global_position[1],
self.global_position[2]) # set the current location to be the home position
self.set_home_position(*self.global_position) # set the current location to be the home position

self.flight_state = States.ARMING

Expand All @@ -95,7 +94,7 @@ def waypoint_transition(self):
print("waypoint transition")
self.target_position = self.all_waypoints.pop(0)
print('target position', self.target_position)
self.cmd_position(self.target_position[0], self.target_position[1], self.target_position[2], 0.0)
self.cmd_position(*self.target_position)
self.flight_state = States.WAYPOINT

def landing_transition(self):
Expand Down