Commit 606fb3a4 authored by roangel's avatar roangel
Browse files

now disconnection always turns motors off first

parent c8fff635
......@@ -116,6 +116,10 @@ class PPSRadioClient:
self._cf.open_link(self.link_uri)
def disconnect(self):
print "Motors OFF"
self._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, CONTROLLER_MOTOR)
# change state to motors OFF
self.PPSClient_command_pub.publish(CMD_CRAZYFLY_MOTORS_OFF)
print "Disconnecting from %s" % self.link_uri
self._cf.close_link()
self.change_status_to(DISCONNECTED)
......
......@@ -413,13 +413,17 @@ void loadCrazyflieContext() {
if((context.crazyflieName != "") && (new_context.crazyflieName != context.crazyflieName)) //linked crazyflie name changed and it was not empty before
{
// Motors off is done in python script now everytime we disconnect
// send motors OFF and disconnect before setting context = new_context
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
commandPublisher.publish(msg);
// std_msgs::Int32 msg;
// msg.data = CMD_CRAZYFLY_MOTORS_OFF;
// commandPublisher.publish(msg);
// maybe some delay here?
ROS_INFO("CF is now different for this student. Disconnect and turn it off");
std_msgs::Int32 msg;
msg.data = CMD_DISCONNECT;
crazyRadioCommandPublisher.publish(msg);
}
......
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