Commit 039a6e55 authored by Fabio Vitello's avatar Fabio Vitello
Browse files

#588 enable elevation tracking when servo is ready

parent 653081a9

Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp

+3 −3
Original line number Diff line number Diff line
@@ -58,16 +58,16 @@ void MSBossTracker::runLoop() 
    MedMinorServoPosition offset_position, correct_position;



    IRA::CTimer timer;

    bool tracking = false;



    while(!(m_status->ready))

    {

        usleep(5000000);

        if(timer.elapsed() > READY_MAX_WAIT)

        {

            throw ServoTimeoutError("Timeout wating for Minor Servo to became ready");

        }



    }



    m_status->elevation_tracking = true;

    if(m_status->elevation_tracking)

    {

        try {

Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp

+1 −1
Original line number Diff line number Diff line
@@ -856,7 +856,7 @@ throw (MinorServoErrors::MinorServoErrorsEx) 
        m_tracking_thread_ptr = NULL;

    }



    m_servo_status.elevation_tracking = true;

    //m_servo_status.elevation_tracking = true;

    try {

        TrackerThreadParameters params(&m_servo_status,

                                        m_control,