def goTo(self, goal, yaw, duration, relative=False, groupMask=0):
if self._isGroup(groupMask):
if self.mode != Crazyflie.MODE_HIGH_POLY:
# 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 = Crazyflie.MODE_HIGH_POLY
firm.plan_go_to(self.planner, relative, firm.mkvec(*goal), yaw,
duration, self.time())
def goTo(self, goal, yaw, duration, relative = False, groupMask = 0):
if self._isGroup(groupMask):
firm.plan_go_to(self.planner, relative, arr2vec(goal), yaw, duration, self.time())
def cmdPosition(self, pos, yaw):
# TODO should be implemented in firmware level
duration = 0.1
relative = False
firm.plan_go_to(self.planner, relative, arr2vec(pos), yaw, duration,
self.time())