Send continuous zero setpoints until landing in ramp examples #529
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In ramp examples where motors are gradually ramped, the supervisor assumes the drone is flying and requires continuous updated setpoints. Previously, a single zero setpoint was sent before sleeping, which leads to supervisor intervention due to missing regular setpoints. Now, zero setpoints are continuously sent for 3 seconds, and the drone is considered landed, preventing locking. Currently, this does not directly check with the supervisor if the drone has landed. Investigating a way to do this revealed that it is not straightforward. In the client, we check the supervisor states through a bitfield check, but there is no direct and easy way to access this information from the library. I will open a new issue to propose adding supervisor state reading functionality to the library, making it easier to access this information directly.
Re-added a slightly modified comment explaining that sleeping before closing the link ensures the last packet is sent, as the message queue is not flushed before closing. While it’s somewhat arbitrary that this information is only found in this example, it’s still valuable to have it documented somewhere. In practice, we don’t care as much about this delay anymore since the new method’s delay is more focused on the setpoint sending loop rather than guaranteeing message delivery, but the comment is still worth keeping.
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In ramp examples where motors are gradually ramped, the supervisor assumes the drone is flying and requires continuous updated setpoints. Previously, a single zero setpoint was sent before sleeping, which leads to supervisor intervention due to missing regular setpoints. Now, zero setpoints are continuously sent for 3 seconds (after which the drone can be safely assumed to be landed), preventing locking.
Currently, this does not directly check with the supervisor if the drone has landed. Investigating a way to do this revealed that it is not straightforward. In the client, we check the supervisor states through a bitfield check, but there is no direct and easy way to access this information from the library. I will open a new issue to propose adding supervisor state reading functionality to the library, making it easier to access this information directly.
Fixes https://github.com/orgs/bitcraze/discussions/1852