code: def halt(self):
          
          with self.lock:
              self.com_watchdog_timer.cancel()
              self.ipc_thread.stop()
              self.ipc_thread.join()
              self.network_process.terminate()
              self.network_process.join()
docs: Shutdown the drone.
  
          This method does not land or halt the actual drone, but the
          communication with the drone. You should call it at the end of your
          application to close all sockets, pipes, processes and threads related
          with this object.