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bitcraze / crazyflie-clients-python

Host applications and library for Crazyflie written in Python.
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Joystick initializes thrust at 50% when springy-throttle false #724

Open matejkarasek opened 4 weeks ago

matejkarasek commented 4 weeks ago

When using a joystick without a spring on the throttle axis (using the "springythrottle": false in the config file), the cfclient initializes with a 50% throttle ignoring the joystick position. Only once the joystick is moved, it will give a correct throttle value.

This is not desired, as connecting to the drone with joystick throttle axis at 0 may spin up the motors in some situations (restart of cfclient without a restart of the crazyflie, which has already been flown).

knmcguire commented 3 weeks ago

No that's not great. The crazyflie firmware locks the input of the attitude setpoint commands if the first values aren't zeros to solve this issue.

But if the cfclient restarts and the crazyflie not, than that is indeed the corner case it didn't think of... We need to perhaps consider adding a check for this also in the cfclient perhaps?