Manually arm Crazyflies in all examples

Disarming is automatic after flight.

Author: gemenerik

examples/aideck/fpv.py

@@ -48,6 +48,7 @@
 import struct
 import sys
 import threading
+from time import time
 
 import numpy as np
 
@@ -185,6 +186,10 @@ def __init__(self, URI):
 
             self.hover = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'height': 0.3}
 
+            # Arm the Crazyflie
+            self.cf.platform.send_arming_request(True)
+            time.sleep(1.0)
+
             self.hoverTimer = QtCore.QTimer()
             self.hoverTimer.timeout.connect(self.sendHoverCommand)
             self.hoverTimer.setInterval(100)

examples/autonomy/autonomousSequence.py

@@ -127,6 +127,10 @@ def start_position_printing(scf):
 def run_sequence(scf, sequence):
     cf = scf.cf
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     for position in sequence:
         print('Setting position {}'.format(position))
         for i in range(50):

examples/autonomy/autonomous_sequence_high_level.py

@@ -140,6 +140,10 @@ def upload_trajectory(cf, trajectory_id, trajectory):
 def run_sequence(cf, trajectory_id, duration):
     commander = cf.high_level_commander
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     commander.takeoff(1.0, 2.0)
     time.sleep(3.0)
     relative = True

examples/autonomy/autonomous_sequence_high_level_compressed.py

@@ -137,6 +137,10 @@ def upload_trajectory(cf, trajectory_id, trajectory):
 def run_sequence(cf, trajectory_id, duration):
     commander = cf.high_level_commander
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     commander.takeoff(1.0, 2.0)
     time.sleep(3.0)
     relative = True

examples/autonomy/circling_square_demo.py

@@ -162,6 +162,10 @@ def turn_off_leds(scf):
 
 
 def run_sequence(scf, alpha, r):
+    # Arm the Crazyflie
+    scf.cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     commander = scf.cf.high_level_commander
     trajectory_id = 1
     duration = 4*t

examples/autonomy/full_state_setpoint_demo.py

@@ -134,6 +134,10 @@ def run_sequence(scf):
     # Set to mellinger controller
     # cf.param.set_value('stabilizer.controller', '2')
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     print('takeoff')
     send_setpoint(cf, 4.0,
                   [0.0, 0.0, 1.0],

examples/autonomy/motion_commander_demo.py

@@ -52,6 +52,10 @@
     cflib.crtp.init_drivers()
 
     with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         # We take off when the commander is created
         with MotionCommander(scf) as mc:
             time.sleep(1)

examples/autonomy/position_commander_demo.py

@@ -29,6 +29,8 @@
 
 Change the URI variable to your Crazyflie configuration.
 """
+from time import time
+
 import cflib.crtp
 from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
@@ -41,6 +43,10 @@
 
 def slightly_more_complex_usage():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(
                 scf,
                 x=0.0, y=0.0, z=0.0,
@@ -67,6 +73,10 @@ def slightly_more_complex_usage():
 
 def land_on_elevated_surface():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(scf,
                                  default_height=0.5,
                                  default_velocity=0.2,
@@ -80,6 +90,10 @@ def land_on_elevated_surface():
 
 def simple_sequence():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(scf, controller=PositionHlCommander.CONTROLLER_PID) as pc:
             pc.forward(1.0)
             pc.left(1.0)

examples/lighthouse/lighthouse_openvr_grab.py

@@ -171,6 +171,11 @@ def run_sequence(scf):
 
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         reset_estimator(scf)
+
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         run_sequence(scf)
 
     openvr.shutdown()

examples/lighthouse/lighthouse_openvr_grab_color.py

@@ -203,6 +203,11 @@ def run_sequence(scf):
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         reset_estimator(scf)
         # start_position_printing(scf)
+
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         run_sequence(scf)
 
     openvr.shutdown()