command Bit 재정의 및 비행 프로토콜 코드 탄탄 - #180
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branch 가 업뎃이 안됐나본데 |
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Draft 아직 미완성입니다 ㅎㅎ.. |
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(저희 코드 잘 작동합니다 ㅎㅎ;;)
기존 코드는 원래 이런 느낌으로 돌아가고 있는 상태였습니다..
1. 이륙 코드 수정
절대 좌표계가 대체적으로 상대 고도로 되어있습니다. 그렇기 때문에, 고도 명령어를 내릴 때에는 현재고도에다가 30m를 더하는 것이 아닌, 바로 30m 값을 넣게 됩니다.
2. stateCallbackCommand -> vtolCommandCenter로 이전
기존에는 state가 바뀔 때마다 제어를 하게 되었는데,
vtolCommandCenter을 만들면서 모든 subscribe call back 함수를 받을 수 있도록 구현하였습니다.
4.