Differences

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--- doc:crazyflie:crtp:localization [2017-05-16 15:53]
arnaud [Generic Localization]
+++ doc:crazyflie:crtp:localization [2019-09-05 15:11]
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page is deprecated and is moved to the main Bitcraze website. Please go to:
+ [[
+https://www.bitcraze.io/docs/crazyflie-firmware/master/ctrp_localization/
+]]
+</WRAP>
 ====== Localization CRTP port ======
@@ Line 30: / Line 39: @@
 ^ ID ^ Packet ^
 | 2  | LPP Short packet tunnel |
-| 3  | Enable emergency stop: stops all motors |
+| 3  | Enable emergency stop |
-| 4  | Reset emergency stop timeout, see bellow. |
+| 4  | Reset emergency stop timeout |
 ==== LPP Short packet tunnel ====
@@ Line 37: / Line 46: @@
 Packet used to send LPP short packet to the loco positioning system. The payload is sent to the sytem as an [[doc:lps:lpp#lpp_short_packets|LPP Short Packet]].
+==== Emergency stop ====
+When received, the stabilizer loop is set in emergency stop mode which stops all the motors. The loop stays in emergency stop mode until the situation is reset.
+==== Reset emergency stop timeout ====
+At startup the emergency stop timeout is disabled.
+The first time this packet is receive, the emergency stop timeout is enabled with a timeout of 1 second.
+This packet should then be sent, and received by the Crazyflie, at least once every 1 second otherwise the stabilizer loop will be set in emergency stop and all motors will stop.

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