[Servo][Spinal][Neuron] refactor the rule to handle pulley skip with external encoder #666
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…n spinal and neuron while switch the servo torque on/off. Especially avoid the chattering just after servo on by using the raw position value of servo internal encoder.
…osition from neuron to spinal
…p. No servo off process. Reset the internal offset and the target angle
…r bit to avoid joint servo off (e.g., the pulley skip error and the overload error)
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What is this
Do not permanently disable servo of which the pulley is skipped, since this action is very dangerous for flying. So, update the new internal offset by using the angles from both internal and external encoders.
Details
s->pulley_skip_time_(i.e., 1000ms).s->pulley_skip_time_, theinternal_offset_will be updated, and error flag will be cleared.