Crazyflie suite

Flight and data analysis framework for Crazyflies.

Installation

Ideally, make use of a Python virtual environment:

$ sudo apt install python3-venv
$ git clone https://github.com/Huizerd/crazyflie-suite.git
$ cd crazyflie-suite
$ python3 -m venv venv
$ source venv/bin/activate

You can exit the virtual environment by typing deactivate at any time. Next, update pip and setuptools and install the package and its dependencies:

$ pip install --upgrade pip && pip install --upgrade setuptools
$ pip install -e .

We're installing the package in editable (-e) mode, such that we can change it without having to install again.

Code is formatted using Black. To automatically format when committing, run this once:

$ pre-commit install

Logging a flight

Files needed:

• A logging configuration, like here
• A file specifying the flight space, like here

A flight can be started by running python flight/logFlight.py. Several arguments can be supplied:

• --fileroot: folder to store the log
• --keywords: keywords to identify your run (optional)
• --logconfig: location of the logging configuration
• --space: location of the flight space specification
• --estimator: which estimator to use (complementary or kalman, must be compatible with flashed firmware)
• --uwb: which UWB mode to use (none, twr or tdoa, must be compatible with anchor settings)
• --flow: whether or not a Flowdeck is used (optional)
• --trajectory: trajectory (or trajectories) to fly (see here for all options)
• --optitrack: how to use OptiTrack (none, logging or state, optional)
• --optitrack_id: if using OptiTrack, provide the rigid body ID here (optional)

A simple example can be found here.

Autonomous flight

Note that some options are incompatible. For instance, without UWB (none), you need OptiTrack for providing state (state). If either UWB or a Flowdeck (--flow) is used, the Kalman filter has to be selected.

Manual flight

To log a manual flight, choose "manual" as trajectory (i.e. --trajectory manual). Per default, the "PS3_Mode_1" controller mapping is used. It is however recommended to perform the following steps to make sure your controller works as intended:

• Connect your controller.
• Open the crazyflie client. This can be done from the terminal in your virtual environment with the command cfclient. Your controller should show up under Input device > Device
• Select a device mapping in Input device > Device > Input map. You can check the behaviour of your controller by moving the sticks and observing the numbers in "Gamepad input" in the "Flight Control" tab.
• If you can't find a mapping that works with your controller, you can create your own map in Input device > Configure device mapping. Select your device, click configure and detect all inputs. Finally save the profile using a memorable name.
• In the flight/log_flight.py file, change line 43 to self.setup_controller(map="your_profile_name")