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fix planner api change sitl #599

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merged 2 commits into from
Nov 27, 2024
Merged

fix planner api change sitl #599

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860406a
put try except and add warning
knmcguire Nov 27, 2024
f7aba61
flake8 fix
knmcguire Nov 27, 2024
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19 changes: 14 additions & 5 deletions crazyflie_sim/crazyflie_sim/crazyflie_sil.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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print("Warning: Your Crazyflie firmware is outdated.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,
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