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Send continuous zero setpoints until landing in ramp examples #529

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Merged
gemenerik merged 2 commits into from
Mar 19, 2025
Merged

Send continuous zero setpoints until landing in ramp examples #529

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01e4fd3
Send continuous zero setpoints until landing in ramp examples
gemenerik Mar 19, 2025
5fb3f59
Restore comment about sleeping before closing the link
gemenerik Mar 19, 2025
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12 changes: 8 additions & 4 deletions examples/motors/multiramp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,10 +101,14 @@ def _ramp_motors(self):
if thrust >= 25000:
thrust_mult = -1
thrust += thrust_step * thrust_mult
self._cf.commander.send_setpoint(0, 0, 0, 0)
# 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)
for _ in range(30):
# Continuously send the zero setpoint until the drone is recognized as landed
# to prevent the supervisor from intervening due to missing regular setpoints
self._cf.commander.send_setpoint(0, 0, 0, 0)
time.sleep(0.1)
# Sleeping before closing the link makes sure the last
# packet leaves before the link is closed, since the
# message queue is not flushed before closing
self._cf.close_link()


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12 changes: 8 additions & 4 deletions examples/motors/ramp.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -99,10 +99,14 @@ def _ramp_motors(self):
if thrust >= 25000:
thrust_mult = -1
thrust += thrust_step * thrust_mult
self._cf.commander.send_setpoint(0, 0, 0, 0)
# Make sure that the last packet leaves before the link is closed
# since the message queue is not flushed before closing
time.sleep(1)
for _ in range(30):
# Continuously send the zero setpoint until the drone is recognized as landed
# to prevent the supervisor from intervening due to missing regular setpoints
self._cf.commander.send_setpoint(0, 0, 0, 0)
time.sleep(0.1)
# Sleeping before closing the link makes sure the last
# packet leaves before the link is closed, since the
# message queue is not flushed before closing
self._cf.close_link()


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