Used for sending high level setpoints to the Crazyflie
Classes
HighLevelCommander
HighLevelCommander(crazyflie=None)
Used for sending high level setpoints to the Crazyflie
Initialize the object.
Class variables
ALL_GROUPS
COMMAND_DEFINE_TRAJECTORY
COMMAND_GO_TO
COMMAND_GO_TO_2
COMMAND_LAND_2
COMMAND_SET_GROUP_MASK
COMMAND_SPIRAL
COMMAND_START_TRAJECTORY
COMMAND_STOP
COMMAND_TAKEOFF_2
TRAJECTORY_LOCATION_MEM
TRAJECTORY_TYPE_POLY4D
TRAJECTORY_TYPE_POLY4D_COMPRESSED
Methods
def define_trajectory(self, trajectory_id, offset, n_pieces, type=0)
Define a trajectory that has previously been uploaded to memory.
Parameters
| Name | Description |
|---|---|
| trajectory_id | The id of the trajectory |
| offset | Offset in uploaded memory |
| n_pieces | Nr of pieces in the trajectory |
| type | The type of trajectory data; TRAJECTORY_TYPE_POLY4D or TRAJECTORY_TYPE_POLY4D_COMPRESSED:return: |
def go_to(self, x, y, z, yaw, duration_s, relative=False, linear=False, group_mask=0)
Go to an absolute or relative position
Parameters
| Name | Description |
|---|---|
| x | X (m) |
| y | Y (m) |
| z | Z (m) |
| yaw | Yaw (radians) |
| duration_s | Time it should take to reach the position (s) |
| relative | True if x, y, z is relative to the current position |
| linear | True to use linear interpolation instead of a smooth polynomial |
| group_mask | Mask for which CFs this should apply to |
def land(self, absolute_height_m, duration_s, group_mask=0, yaw=0.0)
vertical land from current x-y position to given height
Parameters
| Name | Description |
|---|---|
| absolute_height_m | Absolute (m) |
| duration_s | Time it should take until target height is reached (s) |
| group_mask | Mask for which CFs this should apply to |
| yaw | Yaw (rad). Use current yaw if set to None. |
def set_group_mask(self, group_mask=0)
Set the group mask that the Crazyflie belongs to
Parameters
| Name | Description |
|---|---|
| group_mask | Mask for which groups this CF belongs to |
def spiral(self, angle, r0, rF, ascent, duration_s, sideways=False, clockwise=False, group_mask=0)
Follow a spiral-like segment (spline approximation of a spiral/arc for <= 90-degree segments)
Parameters
| Name | Description |
|---|---|
| angle | spiral angle (rad), limited to +/- 2pi |
| r0 | initial radius (m), must be positive |
| rF | final radius (m), must be positive |
| ascent | altitude gain (m), positive to climb, negative to descent |
| duration_s | time it should take to reach the end of the spiral (s) |
| sideways | true if crazyflie should spiral sideways instead of forward |
| clockwise | true if crazyflie should spiral clockwise instead of counter-clockwise |
| group_mask | Mask for which CFs this should apply to |
def start_trajectory(self, trajectory_id, time_scale=1.0, relative=False, reversed=False, group_mask=0)
starts executing a specified trajectory
Parameters
| Name | Description |
|---|---|
| trajectory_id | Id of the trajectory (previously defined by define_trajectory) |
| time_scale | Time factor; 1.0 = original speed; >1.0: slower; <1.0: faster |
| relative | Set to True, if trajectory should be shifted to current setpoint |
| reversed | Set to True, if trajectory should be executed in reverse |
| group_mask | Mask for which CFs this should apply to:return: |
def stop(self, group_mask=0)
stops the current trajectory (turns off the motors)
Parameters
| Name | Description |
|---|---|
| group_mask | Mask for which CFs this should apply to:return: |
def takeoff(self, absolute_height_m, duration_s, group_mask=0, yaw=0.0)
vertical takeoff from current x-y position to given height
Parameters
| Name | Description |
|---|---|
| absolute_height_m | Absolute (m) |
| duration_s | Time it should take until target height is reached (s) |
| group_mask | Mask for which CFs this should apply to |
| yaw | Yaw (rad). Use current yaw if set to None. |