Class offboard_start

1. def init

1-1) subscription, publisher 선언

subscriptions (vehicle_status, velocity_sub, vehicle_attitude, arm_message, vtol_message_fw, vtol_message_mc)

publishers(offboard_mode, velocity, trajectory,vehiclecommand )

1-2) main logic

• arm_timer, 0.1초마다 arm_timer_callback함수 호출
• cmd_timer 0.05초마다 cmdloop_callback 함수 호출

# Variables
        self.nav_state = VehicleStatus.NAVIGATION_STATE_MAX
        self.arm_state = VehicleStatus.ARMING_STATE_ARMED
        self.velocity = Vector3()
        self.yaw = 0.0 # Yaw value send
        self.trueYaw = 0.0 # Current Yaw
        self.offboardMode = False
        self.flightCheck = False
        self.myCnt = 0
        self.arm_message = False
        self.failsafe = False
        self.vtol_msg_fw = False
        self.vtol_msg_mc = False    
        
 self.states = {
            "IDLE": self.state_init,
            "ARMING": self.state_arming,
            "TAKEOFF": self.state_takeoff,
            "LOITER": self.state_loiter,
            "OFFBOARD": self.state_offboard,
            "DONE": self.state_done
        }
        self.current_state = "IDLE"
        self.last_state = self.current_state                                                  

1. arm_message_callback(self, msg), vtol_msg_callback_fw(self, msg), vtol_msg_callback_mc(self, msg)

msg 수신 → data 로그 생성

1. def arm_timer_callback(self):

current_state에 따라 다르게 실행

arm_state ≠vehiclestatus.arming_state_armed → arm_message= False