From 860406a2de620c15790ad1ebc0185adf72daedeb Mon Sep 17 00:00:00 2001
From: knmcguire <kimberly@bitcraze.io>
Date: Wed, 27 Nov 2024 14:16:58 +0100
Subject: [PATCH 1/2] put try except and add warning

---
 crazyflie_sim/crazyflie_sim/crazyflie_sil.py | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
index dc3018ad0..f33887027 100644
--- a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
+++ b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
@@ -132,11 +132,20 @@ def goTo(self, goal, yaw, duration, relative=False, groupMask=0):
                 # We need to update to the latest firmware that has go_to_from.
                 raise ValueError('goTo from low-level modes not yet supported.')
             self.mode = CrazyflieSIL.MODE_HIGH_POLY
-            firm.plan_go_to(
-                self.planner,
-                relative,
-                firm.mkvec(*goal),
-                yaw, duration, self.time_func())
+            try:
+                firm.plan_go_to(
+                    self.planner,
+                    relative,
+                    False,
+                    firm.mkvec(*goal),
+                    yaw, duration, self.time_func())
+            except TypeError:
+                print("Warning: Your Crazyflie firmware is outdated. Please update to the latest version.")
+                firm.plan_go_to(
+                    self.planner,
+                    relative,
+                    firm.mkvec(*goal),
+                    yaw, duration, self.time_func())
 
     def uploadTrajectory(self,
                          trajectoryId: int,

From f7aba619c20c9cb9ed369b62efe56e972905ee72 Mon Sep 17 00:00:00 2001
From: knmcguire <kimberly@bitcraze.io>
Date: Wed, 27 Nov 2024 14:59:33 +0100
Subject: [PATCH 2/2] flake8 fix

---
 crazyflie_sim/crazyflie_sim/crazyflie_sil.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
index f33887027..acd939d54 100644
--- a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
+++ b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
@@ -140,7 +140,9 @@ def goTo(self, goal, yaw, duration, relative=False, groupMask=0):
                     firm.mkvec(*goal),
                     yaw, duration, self.time_func())
             except TypeError:
-                print("Warning: Your Crazyflie firmware is outdated. Please update to the latest version.")
+                message = ('Warning: Your Crazyflie firmware is outdated. '
+                           ' Please update to the latest version.')
+                print(message)
                 firm.plan_go_to(
                     self.planner,
                     relative,