The transmit power of the radio determines how far it reaches. The TX power can be configured, but note that there might be rules and regulations in different countries that limits which settings that are allowed. How to configure The configuration of the anchors determines the TX power of the anchors,… Read More

This ports handle various link-related low level services. It most notably host the null packet used by the radio link to pull downlink packets. CRTP channels port channel Function 15 0 Echo 15 1 Source 15 2 Sink 15 3 Null packets Echo Packets sent to the Echo channel are send back unaltered. Source… Read More

This class is used to turn the power of the Crazyflie on and off via a Crazyradio. Classes PowerSwitch PowerSwitch(uri) Class variables BOOTLOADER_CMD_ALLOFF BOOTLOADER_CMD_RESET BOOTLOADER_CMD_RESET_INIT BOOTLOADER_CMD_SYSOFF BOOTLOADER_CMD_SYSON Methods def close(self) def platform_power_down(self)… Read More

Functionality to manage lighthouse system configuration (geometry and calibration data). Classes LighthouseConfigFileManager LighthouseConfigFileManager() Class variables CALIBS_ID GEOS_ID SYSTEM_TYPE_ID SYSTEM_TYPE_V1 SYSTEM_TYPE_V2 TYPE TYPE_ID VERSION VERSION_ID Static methods def read(file_name)… Read More

Bootloading utilities for the Crazyflie. Sub-modules cflib.bootloader.boottypes cflib.bootloader.cloader Classes Bootloader Bootloader(clink=None) Bootloader utility for the Crazyflie Init the communication class by starting to communicate with the link given. clink is the link address used after resetting… Read More

This port groups various packets related to localization. It exposes two channels: Port Channel Name 6 0 External Position 6 1 Generic localization External Position This packet is used to send the Crazyflie position as acquired by an external system. The main use is to send the position acquired by… Read More

Top LED 1: Red/green LED used for heartbeat and low-battery indication LED 2: Blue LED fully lit when powered and blinking when bootloading LED 3: Blue LED fully lit when powered and blinking when charging LED 4: Red/green LED used to indicate radio communication Right expansion connector: The expansion… Read More

Used for sending control setpoints to the Crazyflie Classes Commander Commander(crazyflie=None) Used for sending control setpoints to the Crazyflie Initialize the commander object. By default the commander is in +-mode (not x-mode). Methods def send_full_state_setpoint(self, pos, vel, acc, orientation,… Read More

The two way ranging protocol allows a tag to measure its distance to an anchor. The protocol contains 4 messages, two are sent by the tag and two by the anchor. The message sequence is as follow: The time of flight is calculated using the formula: TWR packet IDs ID Description 0x01 TWR_POLL 0x02 TWR_ANSWER… Read More

One way to get started with lighthouse 2 is to create a conversion from lighthouse 2 angles to lighthouse 1 angles, and use the functionality that has already been implemented for lighthouse 1. Even though it is an easy way to get started, the main drawback is that we need both sweeps for the conversion.… Read More