Changes for limits in lqsimple.py

src/limits_outdoors.py

+max_altitude = 140.5
+min_altitude = 0.1
+
+max_speed = 0.1
+
+max_forward = 20.0
+min_forward = -20.0   
+
+max_right = 20.0
+min_right = -20.0
+
+max_up = 5.0
+min_up = -5.0

src/lqsimple.py

@@ -36,29 +36,6 @@ min_right = -20.0
 max_up = 5.0
 min_up = -5.0
 
-#
-#
-#
-if os.path.isfile ("limits.py"):
-    print "READ FILE: limits.py"
-    import limits
-    max_altitude = limits.max_altitude
-    min_altitude = limits.min_altitude
-    max_speed = limits.max_speed
-    max_forward = limits.max_forward
-    min_forward = limits.min_forward
-    max_right = limits.max_right
-    min_right = limits.min_right
-    max_up = limits.max_up
-    min_up = limits.min_up
-    
-print "----- LIMITS ------"
-print "Altitude limits: <{0},{1}> ".format(min_altitude,max_altitude)
-print "Max speed: ", max_speed
-print "Forward limits: <{0},{1}> ".format(min_forward,max_forward)
-print "Right limits: <{0},{1}> ".format(min_right,max_right)
-print "Up limits: <{0},{1}> ".format(min_up,max_up)
-print "-------------------"
 
 
 def fly_straight_line (east_m, north_m, relalt, speed, yaw_flag):
@@ -592,6 +569,29 @@ if __name__ == "__main__":
     qc = QCon(ns, 10000)
     sim = QSim(ns)
 
+    if options.limits:
+        print "IMPORTING: limits.py"
+        import limits
+        max_altitude = limits.max_altitude
+        min_altitude = limits.min_altitude
+        max_speed = limits.max_speed
+        max_forward = limits.max_forward
+        min_forward = limits.min_forward
+        max_right = limits.max_right
+        min_right = limits.min_right
+        max_up = limits.max_up
+        min_up = limits.min_up
+    
+    print "----- LIMITS ------"
+    print "Altitude limits: <{0},{1}> ".format(min_altitude,max_altitude)
+    print "Max speed: ", max_speed
+    print "Forward limits: <{0},{1}> ".format(min_forward,max_forward)
+    print "Right limits: <{0},{1}> ".format(min_right,max_right)
+    print "Up limits: <{0},{1}> ".format(min_up,max_up)
+    print "-------------------"
+
+
+
     if options.joystick:
         qc.set_ext_config_joystick()
         sys.exit(0)