From 1d2f1862ac915eed86e8adc57f0aa5a7515ad281 Mon Sep 17 00:00:00 2001
From: Izzy Brand <isaiah_brand@brown.edu>
Date: Wed, 10 Jan 2018 10:22:18 -0500
Subject: [PATCH] successful use of burntest

---
 companion.py | 6 ++----
 config.py    | 4 ++--
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/companion.py b/companion.py
index 7f03fb9..3f5f1b6 100644
--- a/companion.py
+++ b/companion.py
@@ -3,7 +3,6 @@ from pymavlink import mavutil
 import time
 import numpy as np
 from config import *
-from helpers import *
 #import RPi.GPIO as GPIO
 import sys
 import argparse
@@ -44,10 +43,9 @@ except Exception as e:
 	print 'Failed to connect to pixhawk. exiting.'
 	exit(1)
 
-# vehicle.mode = VehicleMode("MANUAL")
-vehicle.mode = VehicleMode("STABILIZE")
+vehicle.mode = VehicleMode("MANUAL")
 
-while not vehicle.mode.name == "STABILIZE":
+while not vehicle.mode.name == "MANUAL":
 	print 'Waiting for MANUAL mode.'
 	time.sleep(1)
 
diff --git a/config.py b/config.py
index 154eac8..837d9be 100644
--- a/config.py
+++ b/config.py
@@ -1,5 +1,5 @@
-PORT 					= '/dev/tty.usbmodem35'	# whic port the pixhawk is on
-BURN_PIN 				= 25				# pin with burn relay
+PORT 					= '/dev/tty.usbmodem1'	# whic port the pixhawk is on
+BURN_PIN 				= 27				# pin with burn relay
 BURN_ALTITUDE 			= 2 			# altitude at which to burn
 BURN_TIME_ABOVE 		= 20				# time above burn alt before ignite
 TARGET_LAT	 			= 42.345131			# desired landing latitude