This page contains terminology and definitions for the lighthouse system to make it easier to understand and discuss algorithms and code. Our definitions probably do not match the ones used by other software packages, but we find these suitable for our setup. Reference frames There are a number of different… Read More

Set up the Crazyflie Getting started with the Crazyflie 2.X Balancing propellers Expansion decks Getting started with expansion decks Getting started with the Buzzer deck Getting started with the Z-ranger deck Getting started with the Flow deck Getting started with the AI deck Solder pins to a deck… Read More

Classes LEDTimingsDriverMemory LEDTimingsDriverMemory(id, type, size, mem_handler) Memory interface for using the LED-ring mapped memory for setting RGB values over time. To upload and run a show sequence of the LEDs in the ring Initialize the element with default values Ancestors (in MRO) cflib.crazyflie.mem.memory_element.MemoryElement… Read More

This class provides synchronous access to log data from the Crazyflie. It acts as an iterator and returns the next value on each iteration. If no value is available it blocks until log data is received again. Classes SyncLogger SyncLogger(crazyflie, log_config) Construct an instance of a SyncLogger… Read More

Exception used when the URI is not for the current driver (ie. radio:// for the serial driver ...) It basically means that an other driver could do the job It does NOT means that the URI is good or bad Classes CommunicationException CommunicationException(*args, **kwargs) Communication problem when… Read More

Reference set-up using 6 anchors (TWR) This reference system can be used to position in Two-way ranging mode (TWR). In this reference setup we have placed 3 anchors above and 3 anchors bellow the flight area, shaped in inverse triangles. This allows to get good accuracy in X, Y and Z. There are measurements… Read More

The MotionCommander is used to make it easy to write scripts that moves the Crazyflie around. Some sort of positioning support is required, for instance the Flow deck. The motion commander uses velocity setpoints and does not have a notion of absolute position, the error in position will accumulate… Read More

For more information on how to use this and how this is implemented have a look here. State machines Downloading the Table Of Contents Communication protocol The log port is separated in 3 channels: Port Channel Function 5 0 Table of content access: Used for reading out the TOC 5 1 Log control: Used… Read More

The lighthouse deck allows to use the HTC-Vive/SteamVR lighthouse tracking system to fly Crazyflies autonomously. The system works with one or two Lighthouse base stations (two recommended), both V1 and V2 are supported. It is not possible to mix V1 and V2 base stations in the same system. After everything… Read More

The Crazyflie 2.X (as most other quadcopters and robots) has no real notion of its position in space. The on board sensors (accelerometers and gyros) can be used to give a rough idea of its movements but lacks the accuracy for long term position awareness. The solution is to use an external system that… Read More