diff --git a/src/modelec_strat/data/obstacles.xml b/src/modelec_strat/data/obstacles.xml
index a30ffed..e1e2905 100644
--- a/src/modelec_strat/data/obstacles.xml
+++ b/src/modelec_strat/data/obstacles.xml
@@ -5,25 +5,25 @@
-
+
-
+
-
+
+
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index d938d51..ae3e59f 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -41,7 +41,7 @@ namespace Modelec
if (!nav_->HasArrived())
{
- if ((node_->now() - go_timeout_).seconds() < 4)
+ if ((node_->now() - go_timeout_).seconds() < 10)
{
return;
}
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 0514f8d..7ebbbea 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -155,16 +155,20 @@ namespace Modelec
{
auto elapsed = now - match_start_time_;
- // TODO : next thing to upgrade to have a good strat
- /*if (!is_banner_done_)
+ if (!is_banner_done_)
{
Transition(State::DO_PROMOTION, "Start promotion");
- }*/
- if (elapsed.seconds() >= 2)
+ }
+ else
+ {
+ Transition(State::STOP, "All missions done");
+ }
+
+ /*if (elapsed.seconds() >= 2)
{
Transition(State::DO_GO_HOME, "Go Home");
- }
- // TODO : check the time needed by the mission
+ }*/
+
/*else if (elapsed.seconds() < 70)
{
Transition(State::DO_PREPARE_CONCERT, "Proceed to concert");