cflib: Crazyflie python library

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

• Fork the cflib

• Clone the cflib, git clone [email protected]:YOUR-USERNAME/crazyflie-lib-python.git

• Install the cflib in editable mode, pip install -e path/to/cflib

• Uninstall the cflib if you don't want it any more, pip uninstall cflib

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.

• Install virtualenv: pip install virtualenv

• create an environment: virtualenv venv

• Activate the environment: source venv/bin/activate

• To deactivate the virtualenv when you are done using it deactivate

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. If you are planning on developing on the lib you should also run: pip install -r requirements-dev.txt.

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

Pre commit hooks

If you want some extra help with keeping to the mandated python coding style you can install hooks that verify your style at commit time. This is done by running:

$ pre-commit install

This will run the lint checkers defined in .pre-commit-config-yaml on your proposed changes and alert you if you need to change anything.

Testing

With docker and the toolbelt

For information and installation of the toolbelt.

• Check to see if you pass tests: tb test
• Check to see if you pass style guidelines: tb verify

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

Native python on Linux, OSX, Windows

Tox is used for native testing: pip install tox

• If test fails after installing tox with pip install tox, installing with sudo apt-get install toxresult a successful test run

• Test package in python3.4 TOXENV=py34 tox

• Test package in python3.6 TOXENV=py36 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 python 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.