Merge pull request #213 from bitcraze/bug-sys-type-overwrite

Make system_type in LighthouseConfigWriter.write_and_store_config() optional

Author: knmcguire

cflib/localization/lighthouse_config_manager.py

@@ -118,8 +118,7 @@ def __init__(self, cf, nr_of_base_stations=16):
         self._write_failed_for_one_or_more_objects = False
         self._nr_of_base_stations = nr_of_base_stations
 
-    def write_and_store_config(self, data_stored_cb, geos=None, calibs=None,
-                               system_type=LighthouseConfigFileManager.SYSTEM_TYPE_V2):
+    def write_and_store_config(self, data_stored_cb, geos=None, calibs=None, system_type=None):
         """
         Transfer geometry and calibration data to the Crazyflie and persist to permanent storage.
         The callback is called when done.
@@ -146,16 +145,17 @@ def write_and_store_config(self, data_stored_cb, geos=None, calibs=None,
 
         self._write_failed_for_one_or_more_objects = False
 
-        # Change system type first as this will erase calib and geo data in the CF.
-        # Changing system type may trigger a lengthy operation (up to 0.5 s) if the persistant memory requires defrag.
-        # Setting a param is an asynchronous operataion, and it is not possible to know if the system swich is finished
-        # before we continue.
-        self._cf.param.set_value('lighthouse.systemType', system_type)
-
-        # We add a sleep here to make sure the change of system type is finished. It is dirty but will have to do for
-        # now. A more propper solution would be to add support for Remote Procedure Calls (RPC) with synchronous
-        # function calls.
-        time.sleep(0.8)
+        if system_type is not None:
+            # Change system type first as this will erase calib and geo data in the CF.
+            # Changing system type may trigger a lengthy operation (up to 0.5 s) if the persistant memory requires
+            # defrag. Setting a param is an asynchronous operataion, and it is not possible to know if the system
+            # swich is finished before we continue.
+            self._cf.param.set_value('lighthouse.systemType', system_type)
+
+            # We add a sleep here to make sure the change of system type is finished. It is dirty but will have to
+            # do for now. A more propper solution would be to add support for Remote Procedure Calls (RPC) with
+            # synchronous function calls.
+            time.sleep(0.8)
 
         self._next()