def change_fly(event):
"""
What happens when you press the fly button on the matplotlib interface.
This button toggles flying. If pressed while still flying it turns lands
the drone and turns off
"""
global flying, scf
scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))
scf.open_link()
reset_estimator(scf)
check_battery(scf, "Drone")
start_console(scf, "Drone")
flying = not flying
if not flying and scf:
scf.cf.commander.send_position_setpoint(0, 0, 0, 0)
openvr.TrackingUniverseStanding, 0,
openvr.k_unMaxTrackedDeviceCount)
pos1 = get_tracker_pos(tracker1)
pos2 = get_tracker_pos(tracker2)
x = (pos1[0] + pos2[0]) / 2
y = (pos1[1] + pos2[1]) / 2
z = (pos1[2] + pos2[2]) / 2 + height_above_center
setpoint = [x, y, z]
scf.cf.commander.send_position_setpoint(setpoint[0], setpoint[1],
setpoint[2], 0)
pc.go_to(0.0, 0.0, 0.0)
# Make sure that the last packet leaves before the link is closed
# since the message queue is not flushed before closing
time.sleep(0.1)
print("Starting")
if __name__ == '__main__':
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
reset_estimator(scf)
run_sequence(scf)
openvr.shutdown()