Minor edits

backyard_flyer.py

@@ -71,7 +71,6 @@ def velocity_callback(msg_name,msg):
                 pass
             elif self.flight_state == States.LANDING:
                 if self.global_position[2] - self.global_home[2] < 0.1:
-                    print(abs(msg.down))
                     if abs(msg.down)<0.01:
                         self.disarming_transition()
             elif self.flight_state == States.DISARMING:
@@ -155,12 +154,13 @@ def start(self):
 
         super().start()        
 
-        while self.in_mission:
-            pass
+        #Only required if they do threaded
+        #while self.in_mission:
+        #    pass
 
         self.stop_log()
 
 if __name__ == "__main__":
-    drone = BackyardFlyer()
+    drone = BackyardFlyer(threaded=False)
     time.sleep(2)
     drone.start()

drone.py

@@ -4,6 +4,7 @@
 import logger
 from connection import mavlink_connection as mc
 from connection import message_types as mt
+import time
 
 
 class Drone:
@@ -414,13 +415,13 @@ def stop_log(self):
     def start(self):
         """Starts the connection to the drone"""        
         self.connection.start()
-        self.tlog.close()
+
 
 
     def stop(self):
-        """Stops the connection to the drone"""
+        """Stops the connection to the drone and closes the log"""
         self.disconnect()
-
+        self.tlog.close()
 
     def run(self):
         """Runs the connection in a while loop,
@@ -434,5 +435,8 @@ def run(self):
         else:
             self.start()
 
-
 
+if __name__ == "__main__":
+    drone = Drone(threaded=False)
+    time.sleep(2)
+    drone.start()

logger.py

@@ -37,14 +37,20 @@ def log_data(self,data):
 
         self.log.write('\n')
 
-
-    #Returns a numpy 2D array of the data
-    def read_log(self,filename):
-        return np.loadtxt(filename,delimiter=',',dtype='Float64')
-
-
-
+    def log_telemetry_data(self,data):
+        for i in range(len(data)):
+            if type(data[i]) == float:
+                self.log.write('{0:.7f}'.format(data[i]))
+            else:
+                self.log.write(data[i].__str__())
+            if i != len(data)-1:
+                self.log.write(',')
+
+        self.log.write('\n')
 
+#Returns a numpy 2D array of the data
+def read_log(filename):
+    return np.loadtxt(filename,delimiter=',',dtype='Float64')