/cmd_hover topic

[xunCai84]

Hello, I sincerely ask why the command I issued through the /cmd_hover topic can make the crazyfly move to the target position normally, but the land command during subsequent landing fails and the crazyfly falls directly. Does this have to do with the priority of high-level and low-level commands? What might be the reason?

[knmcguire]

HI!

Yes the switching between high level and low level is indeed tricky if the priorities are not relaxed. For the velocity multiplexer script, we first send the notifysetpoint stop (which is indicating that we won't be sending low level commands anymore) and then send the landing request.

crazyswarm2/crazyflie/scripts/vel_mux.py

Lines 76 to 78 in 1069b67

	req = NotifySetpointsStop.Request()
	self.notify_client.call_async(req)
	req = Land.Request()