| 641 | } |
| 642 | |
| 643 | inline void checkState() |
| 644 | { |
| 645 | if (TIMEOUT(state, state_timeout)) |
| 646 | throw std::runtime_error("State timeout, check mavros settings"); |
| 647 | |
| 648 | if (!state.connected) |
| 649 | throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection"); |
| 650 | } |
| 651 | |
| 652 | void publishState() |
| 653 | { |