Correct rollover protection

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index e234058dc66af5fcd6065110f86ebeabe3fe38ff..6006f9562bef641e510005c84676553ac6c52801 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -74,7 +74,7 @@ class WTBase:
                self.volt_last_warn = rospy.Time.now()
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-               self.pStripe = LPD8806(1, 0, 12)
+               self.pStripe = LPD8806(1, 0, 16)
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                rospy.Subscriber("imu", Imu, self.imuReceived)
@@ -138,7 +138,7 @@ class WTBase:
                return config
 
        def imuReceived(self, msg):
-               if self.rollover_protect and any(self.cur_vel):
+               if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
                        (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
                        if pitch > self.rollover_protect_limit*pi/180:
                                self.bMotorManual = True