The Crazyflie PC utilities are developed using Python 2.6. The Crazyflie library is used from the command line tools as well as a graphical user interface.

The following has to be installed for the PC utilities to work:

• Python 2.6 (for Windows the last available binary version of Python 2.6 is Python 2.6.6)
• pyGame for reading the input devices
• pyUSB for communicating with the USBRadio

Besides the common bindings the following has to be installed for the user interface to work:

• PyQt4 bindings for QT4
• PyQwt5 for plotting data

Besides the common bindings nothing has to be installed.

crazyload.py permits to update the copter firmware using the Crazyload radio bootloader. This is a self-documented command line tool (launch python crazyload.py -h).

To program a copter with a firmware compile in bootloader mode (see build environment documentation):

$ python crazyload.py -c flash cflie.bin

Here cflie.bin is the binary file of the firmware to be flashed. After launching this command the copter has to be restarted and the flash procedure will start. When the flash procedure is finished the copter has to be restarted again and will boot the new firmware.

The bootloader is normally able to automatically reset the copter in bootloader and firmware mode. This functionality requires to know the CPU-ID of the copter (which can be recovered with the command line tool getinfo.py). Knowing the copter CPU id, it can be reprogrammed without manipulation as follow;

$ python crazyload.py -i 32:00:6e:06:58:37:35:32:60:58:01:43 -l radio://0/77 flash cflie.bin

This command is an example that would work if the copter is currently running a crazyflie firmware with radio configured to channel 77.

getinfo.py recovers some information about a running copter. This tool is slightly bugged but fulfills its purpose (mainly getting the copter CPU ID). Its usage is quite classical:

crazyclient$ sudo python getinfo.py -l radio://0/77
Detected CrazyRadio dongle version 0.32
Channel 77
Data rate 2M

CPU ID: 52:ff:70:06:48:89:49:53:15:31:10:87
Battery voltage: 3.764599V
CrazyCopter version: 0.9.0
Copter class name: CrazyFlie
CPU ID: 52:ff:70:06:48:89:49:53:15:31:10:87
crazyclient$