From 46eb1ff7e385093f6c18af06c5c24f3dc4f456f2 Mon Sep 17 00:00:00 2001
From: weiweikong <kongww.nudt@gmail.com>
Date: Mon, 2 Jan 2017 21:41:46 +0800
Subject: [PATCH 1/3] fix bugs for DISCO

---
 bebop_driver/launch/bebop_node.launch     | 2 +-
 bebop_driver/src/bebop_driver_nodelet.cpp | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/bebop_driver/launch/bebop_node.launch b/bebop_driver/launch/bebop_node.launch
index 1f60a38..6612882 100644
--- a/bebop_driver/launch/bebop_node.launch
+++ b/bebop_driver/launch/bebop_node.launch
@@ -10,6 +10,6 @@
             <param name="bebop_ip" value="$(arg ip)" />
             <rosparam command="load" file="$(arg config_file)" />
         </node>
-        <include file="$(find bebop_description)/launch/description.launch" />
+        <!--include file="$(find bebop_description)/launch/description.launch" /-->
     </group>
 </launch>
diff --git a/bebop_driver/src/bebop_driver_nodelet.cpp b/bebop_driver/src/bebop_driver_nodelet.cpp
index e0a32a2..a4aeb5f 100644
--- a/bebop_driver/src/bebop_driver_nodelet.cpp
+++ b/bebop_driver/src/bebop_driver_nodelet.cpp
@@ -536,7 +536,8 @@ void BebopDriverNodelet::AuxThread()
       if (bebop_ptr_->ardrone3_pilotingstate_positionchanged_ptr)
       {
         gps_state_ptr = bebop_ptr_->ardrone3_pilotingstate_positionchanged_ptr->GetDataCstPtr();
-        if ((gps_state_ptr->header.stamp - last_gps_time).toSec() > util::eps)
+        //if ((gps_state_ptr->header.stamp - last_gps_time).toSec() > util::eps)
+        if (gps_state_ptr && ((gps_state_ptr->header.stamp - last_gps_time).toSec() > util::eps))
         {
           last_gps_time = gps_state_ptr->header.stamp;
           new_gps_state = true;
@@ -559,7 +560,7 @@ void BebopDriverNodelet::AuxThread()
         speed_esd_ptr = bebop_ptr_->ardrone3_pilotingstate_speedchanged_ptr->GetDataCstPtr();
 
         // conside new data only
-        if ((speed_esd_ptr->header.stamp - last_speed_time).toSec() > util::eps)
+        if (speed_esd_ptr && ((speed_esd_ptr->header.stamp - last_speed_time).toSec() > util::eps))
         {
           last_speed_time = speed_esd_ptr->header.stamp;
           new_speed_data = true;

From 78546d6f06e70e62af4905cb9afdaf8dce54ce57 Mon Sep 17 00:00:00 2001
From: weiweikong <kongww.nudt@gmail.com>
Date: Mon, 9 Jan 2017 13:51:31 +0800
Subject: [PATCH 2/3] revert bebop_node.launch

---
 bebop_driver/launch/bebop_node.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bebop_driver/launch/bebop_node.launch b/bebop_driver/launch/bebop_node.launch
index 6612882..062b314 100644
--- a/bebop_driver/launch/bebop_node.launch
+++ b/bebop_driver/launch/bebop_node.launch
@@ -10,6 +10,6 @@
             <param name="bebop_ip" value="$(arg ip)" />
             <rosparam command="load" file="$(arg config_file)" />
         </node>
-        <!--include file="$(find bebop_description)/launch/description.launch" /-->
+        <include file="$(find bebop_description)/launch/description.launch">
     </group>
 </launch>

From 160f40fecaee192d74dccaf07f2682fce9b3ed0d Mon Sep 17 00:00:00 2001
From: weiweikong <kongww.nudt@gmail.com>
Date: Mon, 9 Jan 2017 16:16:37 +0800
Subject: [PATCH 3/3] typo

---
 bebop_driver/launch/bebop_node.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bebop_driver/launch/bebop_node.launch b/bebop_driver/launch/bebop_node.launch
index 062b314..1f60a38 100644
--- a/bebop_driver/launch/bebop_node.launch
+++ b/bebop_driver/launch/bebop_node.launch
@@ -10,6 +10,6 @@
             <param name="bebop_ip" value="$(arg ip)" />
             <rosparam command="load" file="$(arg config_file)" />
         </node>
-        <include file="$(find bebop_description)/launch/description.launch">
+        <include file="$(find bebop_description)/launch/description.launch" />
     </group>
 </launch>