Merge pull request #522 from bitcraze/Aris/Issues_in_examples

Fixed some example issues

Author: ToveRumar

examples/autonomy/autonomousSequence.py

@@ -27,8 +27,8 @@
 one every 5 seconds.
 
 This example is intended to work with the Loco Positioning System in TWR TOA
-mode. It aims at documenting how to set the Crazyflie in position control mode
-and how to send setpoints.
+mode and with the Lighthouse Positioning System. It aims at documenting how
+to set the Crazyflie in position control mode and how to send setpoints.
 """
 import time
 
@@ -56,6 +56,19 @@
 ]
 
 
+def take_off(cf, position):
+    take_off_time = 1.0
+    sleep_time = 0.1
+    steps = int(take_off_time / sleep_time)
+    vz = position[2] / take_off_time
+
+    print(f'take off at {position[2]}')
+
+    for i in range(steps):
+        cf.commander.send_velocity_world_setpoint(0, 0, vz, 0)
+        time.sleep(sleep_time)
+
+
 def position_callback(timestamp, data, logconf):
     x = data['kalman.stateX']
     y = data['kalman.stateY']
@@ -81,6 +94,9 @@ def run_sequence(scf, sequence):
     cf.platform.send_arming_request(True)
     time.sleep(1.0)
 
+    take_off(cf, sequence[0])
+    time.sleep(1.0)
+
     for position in sequence:
         print('Setting position {}'.format(position))
         for i in range(50):

examples/autonomy/position_commander_demo.py

@@ -29,7 +29,7 @@
 
 Change the URI variable to your Crazyflie configuration.
 """
-from time import time
+import time
 
 import cflib.crtp
 from cflib.crazyflie import Crazyflie

examples/positioning/flowsequenceSync.py

@@ -24,7 +24,7 @@
 """
 Simple example that connects to the crazyflie at `URI` and runs a figure 8
 sequence. This script requires some kind of location system, it has been
-tested with (and designed for) the flow deck.
+tested with the flow deck and the lighthouse positioning system.
 
 Change the URI variable to your Crazyflie configuration.
 """

examples/swarm/swarmSequence.py

@@ -215,7 +215,6 @@ def run_sequence(scf, sequence):
     try:
         cf = scf.cf
 
-        arm(cf)
         take_off(cf, sequence[0])
         for position in sequence:
             print('Setting position {}'.format(position))
@@ -249,4 +248,6 @@ def run_sequence(scf, sequence):
         print('Waiting for parameters to be downloaded...')
         swarm.parallel(wait_for_param_download)
 
+        swarm.parallel(arm)
+
         swarm.parallel(run_sequence, args_dict=seq_args)