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Make takeoff function interruptable

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Arthur
2019-06-04 18:01:56 +03:00
parent 01ac174397
commit 5f5ce277d0
1 changed files with 8 additions and 3 deletions
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11
Drone/animation_lib.py
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@@ -69,18 +69,23 @@ def execute_animation(frames, frame_delay, frame_id='aruco_map', use_leds=True,
def takeoff(z=1.5, safe_takeoff=True, timeout=5000, frame_id='aruco_map', use_leds=True,
interrupter=interrupt_event):
print(interrupter.is_set())
if use_leds:
LedLib.wipe_to(255, 0, 0)
LedLib.wipe_to(255, 0, 0, interrupter=interrupter)
if interrupter.is_set():
return
FlightLib.takeoff(z=z, wait=False, timeout_takeoff=timeout, frame_id=frame_id, emergency_land=safe_takeoff,
interrupter=interrupter)
if interrupter.is_set():
return
if use_leds:
LedLib.blink(0, 255, 0, wait=50)
LedLib.blink(0, 255, 0, wait=50, interrupter=interrupter)
def land(z=1.5, descend=False, timeout=5000, frame_id='aruco_map', use_leds=True,
interrupter=interrupt_event):
if use_leds:
LedLib.blink(255, 0, 0)
LedLib.blink(255, 0, 0, interrupter=interrupter)
FlightLib.land(z=z, descend=descend, timeout_land=timeout, frame_id_land=frame_id, interrupter=interrupter)
if use_leds:
LedLib.off()