diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools
index 1efd3788f..fbd1f7306 160000
--- a/crazyflie/deps/crazyflie_tools
+++ b/crazyflie/deps/crazyflie_tools
@@ -1 +1 @@
-Subproject commit 1efd3788f5bf59e0fa3da2e4d2bc5cd7bee5b0fc
+Subproject commit fbd1f730636f01632b3b99abd0fb2a0789a2d221
diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py
index 025cac736..da83edd48 100644
--- a/crazyflie_py/crazyflie_py/crazyflie.py
+++ b/crazyflie_py/crazyflie_py/crazyflie.py
@@ -389,7 +389,11 @@ def uploadTrajectory(self, trajectoryId, pieceOffset, trajectory):
         req.trajectory_id = trajectoryId
         req.piece_offset = pieceOffset
         req.pieces = pieces
-        self.uploadTrajectoryService.call_async(req)
+        future = self.uploadTrajectoryService.call_async(req)
+        while rclpy.ok():
+            rclpy.spin_once(self.node)
+            if future.done():
+                break
 
     def startTrajectory(self, trajectoryId,
                         timescale=1.0, reverse=False,