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Migrated platform commands to supervisor #776

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Merged
gemenerik merged 3 commits into from
Apr 8, 2026
Merged

Migrated platform commands to supervisor #776

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81009ca
Migrated platform commands to supervisor
ArisMorgens Feb 5, 2026
d738929
Migrated emergency stop commands to supervisor
ArisMorgens Mar 17, 2026
6687bf0
Update cflib dependency
gemenerik Apr 8, 2026
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2 changes: 1 addition & 1 deletion pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ classifiers = [
requires-python = ">= 3.10"

dependencies = [
"cflib~=0.1.31",
"cflib @ git+https://github.com/bitcraze/crazyflie-lib-python.git@153248591ec26f2206d4c029a174f10c8aaaedda",
"setuptools",
"appdirs~=1.4.0",
"pyzmq~=26.0",
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2 changes: 1 addition & 1 deletion src/cfclient/ui/main.py
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Expand Up @@ -577,7 +577,7 @@ def _emergency_stop(self):
if (self.uiState == UIState.CONNECTED):
# Send both emergency stop and disarm
# TODO krri Disarm?
self.cf.loc.send_emergency_stop()
self.cf.supervisor.send_emergency_stop()

def _update_battery(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
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10 changes: 5 additions & 5 deletions src/cfclient/ui/tabs/FlightTab.py
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Expand Up @@ -609,21 +609,21 @@ def emergencyStopStringWithText(self, text):
def updateEmergencyStop(self, emergencyStop):
if emergencyStop:
self.setMotorLabelsEnabled(False)
self._helper.cf.loc.send_emergency_stop()
self._helper.cf.supervisor.send_emergency_stop()
# TODO krri disarm?
else:
self.setMotorLabelsEnabled(True)

def updateArm(self, from_controller=False):
if self._is_flying() and not from_controller:
self._helper.cf.loc.send_emergency_stop()
self._helper.cf.supervisor.send_emergency_stop()
elif self._is_crashed():
self._helper.cf.platform.send_crash_recovery_request()
self._helper.cf.supervisor.send_crash_recovery_request()
elif self._is_armed():
self._helper.cf.platform.send_arming_request(False)
self._helper.cf.supervisor.send_arming_request(False)
elif self._can_arm():
self.armButton.setStyleSheet("background-color: orange")
self._helper.cf.platform.send_arming_request(True)
self._helper.cf.supervisor.send_arming_request(True)

def flightmodeChange(self, item):
Config().set("flightmode", str(self.flightModeCombo.itemText(item)))
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