drone: Update after testing

drone/client.py

@@ -496,7 +496,7 @@ def _command_move_start_to_current_position(*args, **kwargs):
     private_offset = copter.config.animation_private_offset
     offset = numpy.array(private_offset) + numpy.array(copter.config.animation_common_offset)
     try:
-        xs, ys, zs = copter.animation.get_start_frame(copter.telemetry.start_action).pos()
+        xs, ys, zs = copter.animation.get_start_frame(copter.telemetry.start_action).get_pos()
     except ValueError:
         logger.error("Can't get start point. Check animation file!")
     else:
@@ -705,9 +705,10 @@ def _play_animation(*args, **kwargs):
         task_manager.add_task(frame_time, 0, animation.execute_frame,
                               task_kwargs={
                                   "frame": frame,
-                                  "config": config,
+                                  "config": copter.config,
                               })
         frame_time += frame.delay
+    task_manager.add_task(frame_time, 0, animation.turn_off_led)
 
 # noinspection PyAttributeOutsideInit
 class Telemetry:
@@ -880,7 +881,7 @@ class Telemetry:
         state = [self.mode, self.armed, task_manager.get_last_task_name()]
         mode, armed, last_task = state
         # check external interruption
-        external_interruption = (mode != "OFFBOARD" and armed == True and last_task not in [None, 'land'])
+        external_interruption = (mode != "OFFBOARD" and armed == True and last_task not in [None, 'land', 'stand'])
         log_msg = ''
         if emergency:
             log_msg += 'emergency and '

drone/modules/animation.py

@@ -507,7 +507,7 @@ try:
     def execute_frame(frame, config, interrupter=interrupt_event):
         auto_arm = False
         use_leds = config.led_use
-        frame_id = config.frame_id
+        frame_id = config.flight_frame_id
         if frame.action == 'takeoff':
             use_leds = use_leds & config.led_takeoff_indication
             takeoff(z=config.flight_takeoff_height, frame_id=frame_id, timeout=config.flight_takeoff_time, use_leds=use_leds, interrupter=interrupter)
@@ -531,6 +531,9 @@ try:
             else:
                 led.set_effect(r=red, g=green, b=blue)
 
+    def turn_off_led(interrupter=interrupt_event):
+        led.set_effect(r=0, g=0, b=0)
+
     def takeoff(z=1.5, safe_takeoff=False, frame_id='map', timeout=5.0, use_leds=True,
                 interrupter=interrupt_event):
         if use_leds:

drone/modules/tasking.py

@@ -88,7 +88,13 @@ class TaskManager(object):
             raise KeyError('Pop from an empty priority queue')
 
     def get_last_task_name(self):
-        return self._last_task
+        try:
+            name = self._last_task.func.__name__
+            if name == 'execute_frame':
+                return name.kwargs["frame"].action
+            return name
+        except AttributeError:
+            return None
 
     def get_current_task(self):
         try:
@@ -207,7 +213,7 @@ class TaskManager(object):
                     self.pop_task()
                 except KeyError as e:
                     logger.error(str(e))
-                self._last_task = task.func.__name__
+                self._last_task = task
                 #try:
                     #print("Pop {} function!".format(task.func.__name__))
                 #except Exception as e: