cflib: Crazyflie python library Build Status

cflib is an API written in Python that is used to communicate with the Crazyflie and Crazyflie 2.0 quadcopters. It is intended to be used by client software to communicate with and control a Crazyflie quadcopter. For instance the cfclient Crazyflie PC client uses the cflib.

See below for platform specific instruction. For more info see our documentation.

Development

Developing for the cfclient

Note: If you are developing for the cfclient you must use python3. On Ubuntu (16.04, 18.08) use pip3 instead of pip.

Linux, OSX, Windows

The following should be executed in the root of the crazyflie-lib-python file tree.

Virtualenv

This section contains a very short description of how to use virtualenv (local python environment) with package dependencies. If you don't want to use virualenv and don't mind installing cflib dependencies system-wide you can skip this section.

Note: For systems that support make, you can use make venv to create an environment, activate it and install dependencies.

Install cflib dependencies

Install dependencies required by the lib: pip install -r requirements.txt

To verify the installation, connect the crazyflie and run an example: python examples/basiclog

Testing

With docker and the toolbelt

For information and installation of the toolbelt.

Note: Docker and the toolbelt is an optional way of running tests and reduces the work needed to maintain your python environmet.

Native python on Linux, OSX, Windows

Tox is used for native testing: pip install tox

Note: You must have the specific python versions on your machine or tests will fail. (ie. without specifying the TOXENV, tox runs tests for python2.7, 3.3, 3.4 and would require all python versions to be installed on the machine.)

Platform notes

Linux

Setting udev permissions

The following steps make it possible to use the USB Radio without being root.

sudo groupadd plugdev
sudo usermod -a -G plugdev $USER

You will need to log out and log in again in order to be a member of the plugdev group.

Create a file named /etc/udev/rules.d/99-crazyradio.rules and add the following:

# Crazyradio (normal operation)
SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"
# Bootloader
SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="0101", MODE="0664", GROUP="plugdev"

To connect Crazyflie 2.0 via usb, create a file name /etc/udev/rules.d/99-crazyflie.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"

You can reload the udev-rules using the following:

sudo udevadm control --reload-rules
sudo udevadm trigger

Contribute

Everyone is encouraged to contribute to the CrazyFlie library by forking the Github repository and making a pull request or opening an issue.