Merge pull request #413 from bitcraze/krichardsson/stop

Call send_notify_setpoint_stop()
bitcraze · Aug 29, 2023 · f173601 · f173601
2 parents a6c7045 + 4457306
commit f173601
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Showing 5 changed files with 13 additions and 0 deletions.
diff --git a/examples/autonomy/autonomousSequence.py b/examples/autonomy/autonomousSequence.py
@@ -137,6 +137,9 @@ def run_sequence(scf, sequence):
             time.sleep(0.1)
 
     cf.commander.send_stop_setpoint()
+    # Hand control over to the high level commander to avoid timeout and locking of the Crazyflie
+    cf.commander.send_notify_setpoint_stop()
+
     # Make sure that the last packet leaves before the link is closed
     # since the message queue is not flushed before closing
     time.sleep(0.1)

diff --git a/examples/positioning/flowsequenceSync.py b/examples/positioning/flowsequenceSync.py
@@ -79,3 +79,5 @@
             time.sleep(0.1)
 
         cf.commander.send_stop_setpoint()
+        # Hand control over to the high level commander to avoid timeout and locking of the Crazyflie
+        cf.commander.send_notify_setpoint_stop()
diff --git a/examples/positioning/initial_position.py b/examples/positioning/initial_position.py
@@ -130,6 +130,9 @@ def run_sequence(scf, sequence, base_x, base_y, base_z, yaw):
             time.sleep(0.1)
 
     cf.commander.send_stop_setpoint()
+    # Hand control over to the high level commander to avoid timeout and locking of the Crazyflie
+    cf.commander.send_notify_setpoint_stop()
+
     # Make sure that the last packet leaves before the link is closed
     # since the message queue is not flushed before closing
     time.sleep(0.1)

diff --git a/examples/swarm/swarmSequence.py b/examples/swarm/swarmSequence.py
@@ -197,6 +197,9 @@ def land(cf, position):
         time.sleep(sleep_time)
 
     cf.commander.send_stop_setpoint()
+    # Hand control over to the high level commander to avoid timeout and locking of the Crazyflie
+    cf.commander.send_notify_setpoint_stop()
+
     # Make sure that the last packet leaves before the link is closed
     # since the message queue is not flushed before closing
     time.sleep(0.1)

diff --git a/examples/swarm/swarmSequenceCircle.py b/examples/swarm/swarmSequenceCircle.py
@@ -129,6 +129,8 @@ def run_sequence(scf, params):
     poshold(cf, 1, base)
 
     cf.commander.send_stop_setpoint()
+    # Hand control over to the high level commander to avoid timeout and locking of the Crazyflie
+    cf.commander.send_notify_setpoint_stop()
 
 
 if __name__ == '__main__':