From 4457306438750d702adb462727980e990694fee2 Mon Sep 17 00:00:00 2001 From: Kristoffer Richardsson Date: Tue, 29 Aug 2023 13:35:34 +0200 Subject: [PATCH] Call send_notify_setpoint_stop() --- examples/autonomy/autonomousSequence.py | 3 +++ examples/positioning/flowsequenceSync.py | 2 ++ examples/positioning/initial_position.py | 3 +++ examples/swarm/swarmSequence.py | 3 +++ examples/swarm/swarmSequenceCircle.py | 2 ++ 5 files changed, 13 insertions(+) diff --git a/examples/autonomy/autonomousSequence.py b/examples/autonomy/autonomousSequence.py index e7353a8c0..48f3047c6 100644 --- 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 index 1c7abd661..42d7a691f 100644 --- 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 index 6ab9a4f1a..d2119c635 100644 --- 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 index 5c715d610..dea78169c 100644 --- 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 index 31475d77a..b80e176ad 100644 --- 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__':