Add Takeoff fallback and Fix Typos

Makefile

@@ -1,6 +1,6 @@
 SHELL := /bin/bash
 
 test:
-	npm test
+    npm test
 
 .PHONY: test

README.md

@@ -142,7 +142,7 @@ events. Multiple calls to this method returns the same object. Connection lifecy
 #### client.takeoff(callback)
 
 Sets the internal `fly` state to `true`, `callback` is invoked after the drone
-reports that it is hovering.
+reports that it is hovering or after seven seconds since, in some cases, the drone takes off but fails to report it is hovering.
 
 #### client.land(callback)
 

lib/Client.js

@@ -191,7 +191,19 @@ Client.prototype.disableEmergency = function() {
 };
 
 Client.prototype.takeoff = function(cb) {
-  this.once('hovering', cb || function() {});
+  // Create a fallback for when the drone takes off but forgets to emit a 'hovering' event
+  // Assume that after 7 seconds, the drone has taken off
+  var self = this;
+  var eventFallback = setTimeout(function () {
+    console.warn("Emitting fallback event for takeoff command");
+    self.emit('hovering');
+  }, 7000);
+  // Set drone to takeoff
+  this.once('hovering', function() {
+    clearTimeout(eventFallback); 
+    if (typeof(cb) == "function")
+      cb();
+  });
   this._ref.fly = true;
   return true;
 };

lib/navdata/parseNavdata.js

@@ -73,10 +73,10 @@ exports.OPTION_PARSERS = {
     var flyState          = exports.FLY_STATES[reader.uint16()];
     var controlState      = exports.CONTROL_STATES[reader.uint16()];
     var batteryPercentage = reader.uint32();
-    var theta             = reader.float32() / 1000; // [mdeg]
-    var phi               = reader.float32() / 1000; // [mdeg]
-    var psi               = reader.float32() / 1000; // [mdeg]
-    var altitude          = reader.int32()   / 1000; // [mm]
+    var theta             = reader.float32() / 1000; // [mdeg] converted to [deg]
+    var phi               = reader.float32() / 1000; // [mdeg] converted to [deg]
+    var psi               = reader.float32() / 1000; // [mdeg] converted to [deg]
+    var altitude          = reader.int32()   / 1000; // [mm] converted to [m]
     var velocity          = reader.vector31(); // [mm/s]
     var frameIndex = reader.uint32();
     var detection = {

package.json

@@ -1,5 +1,9 @@
 {
-  "author": "Felix Geisendörfer <[email protected]> (http://debuggable.com/)",
+  "author": {
+    "name": "Felix Geisendörfer",
+    "email": "[email protected]",
+    "url": "http://debuggable.com/"
+  },
   "name": "ar-drone",
   "description": "A node.js client for controlling Parrot AR Drone 2.0 quad-copters.",
   "version": "0.3.3",
@@ -26,5 +30,47 @@
   "optionalDependencies": {},
   "engines": {
     "node": "*"
-  }
+  },
+  "bugs": {
+    "url": "https://github.com/felixge/node-ar-drone/issues"
+  },
+  "dist": {
+    "shasum": "d7b956e23f3f12d94a4e8b7a8f575b25cd69f69b",
+    "tarball": "https://registry.npmjs.org/ar-drone/-/ar-drone-0.3.3.tgz"
+  },
+  "maintainers": [
+    {
+      "name": "felixge",
+      "email": "[email protected]"
+    },
+    {
+      "name": "bkw",
+      "email": "[email protected]"
+    },
+    {
+      "name": "jfsiii",
+      "email": "[email protected]"
+    },
+    {
+      "name": "fractal",
+      "email": "[email protected]"
+    },
+    {
+      "name": "eschnou",
+      "email": "[email protected]"
+    },
+    {
+      "name": "andrewnez",
+      "email": "[email protected]"
+    },
+    {
+      "name": "wiseman",
+      "email": "[email protected]"
+    },
+    {
+      "name": "rschmukler",
+      "email": "[email protected]"
+    }
+  ],
+  "directories": {},
 }