ConditionIsCompleted("Low Battery Level", uav, w4lowBatteryLevel))
try:
while True:
p = wp[i]
uav.GoTo(goal_x=p[0], goal_y=p[1], goal_z=1)
uav.Wait(duration=1.0)
if (i < 4):
i += 1
else:
i = 0
except TaskConditionException, e:
if uav.isCompleted(w4landingBackOrder):
rospy.loginfo(
"Mission suspended - UGV ordered a Landing Back !")
uav.RequestLanding()
uav.Wait(duration=2.0)
uav.LandingBack()
uav.WaitForTakeOffOrder()
uav.RequestTakeOff()
uav.Wait(duration=2.0)
uav.TakeOff()
if uav.isCompleted(w4lowBatteryLevel):
rospy.loginfo(
"Mission suspended - Low battery level ! - starting a Landing Back"
)
uav.RequestLanding()
uav.Wait(duration=2.0)
uav.LandingBack()
uav.WaitForChargedBattery()
