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IMRCLab / crazyswarm2

A Large Quadcopter Swarm
MIT License
117 stars 64 forks source link

Seperate parameter handling with connection status #564

Closed knmcguire closed 2 months ago

knmcguire commented 2 months ago

Should fix the biggest delay with #560

knmcguire commented 2 months ago

Still will need to test this if this works.

knmcguire commented 2 months ago

I had some issues of using set_param before the param values has been received as that is blocked from the cflib, so I used a intermediate solution, which is set_param_raw(), after we have received the toc, which should work out (see this issue: https://github.com/bitcraze/crazyflie-lib-python/issues/475). This connects with the crazyflie directly instead of the toc/value layer in the cflib and enables setting the parameters earlier. Not an ideal approach but it works out.

I think we should perhaps have a parameter that indicates that the crazyflie is flight ready, not based on the status but based on the crazyswarm2 initialization of the yaml file, but that should probably be related to an issue.

Anyway, PR is ready for review.

knmcguire commented 2 months ago

great! I've removed the print and I'll merge