From 6d91edfe5bace9fb4aaaea937406a4f0933659a3 Mon Sep 17 00:00:00 2001
From: Louis-Guillaume DUBOIS <contact@lgdubois.fr>
Date: Tue, 12 May 2015 17:44:01 +0200
Subject: [PATCH] auto hover when bad Plan

---
 src/commande.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/commande.cpp b/src/commande.cpp
index 1678d2f..db31282 100644
--- a/src/commande.cpp
+++ b/src/commande.cpp
@@ -91,7 +91,7 @@ class Run
           dz = (z_current - z_previous)/((t_current - t_previous).toSec());
           ROS_INFO("dz = %f", dz);
         }
-
+        
         xx = msg->normal.x;
         ROS_INFO("xx = %f", xx);
         yy = msg->normal.y;
@@ -107,6 +107,8 @@ class Run
           ROS_INFO("first msg received");
         }
         ROS_INFO("coords updated");
+      } else {
+        xx = yy = dz = 0.;
       }
     };