[crazyflie_platform] Platform needs restart to fly again

[mhl787156]

Hi guys,

I've been testing this repo out and I've been coming across the issue where I turn on the crazyflie, can connect to it and run script/teleop once (i.e. takeoff, do some stuff, then land). However it seems that after landing, I cannot takeoff again by script or teleop - it gets stuck in the TakeoffState and components start complaining.

In particular,

• the motion controller looks like it is constantly re-waiting for odometry
• Behavior Node initialises the takeoff but is constantly RUNNING
• Platform looks like its already in OFFBOARD

Everything seems to go back to normal (as In I can fly it once) if I manually restart the Crazyflie (And AS2? Or maybe just the platform node...unsure)

Have you seen this before? I recall I might have seen a similar thing when using the Tellos but never looked into it.
Have you guys got any ideas what might be going on? Whether it's my setup or something with the repo or something as2 related!

[pariaspe]

Hey, we usually restart everything after every flight. As you already guessed, the issue is at the platform (as2_platform_crazyflie), since it doesn't happen in simulation. Controller, estimator and behavior work fine after landing.

However, I'm not sure about why it happens. I believe it is related with disarm command (which might be executed from teleop after landing), but I didn't take a deep look into it.