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The Crazyflie PC utilities are developed using Python 2.7. The Crazyflie library is used from the command line tools as well as a graphical user interface. For install instructions of PC side software please see this page.
The Crazyflie library can be used to easily integrate control and communication with the Crazyflie quadcopter into an application. Currently the only implementation is done in Python and can be found here.
A userguide for the GUI application can be found here.
All command line tools used the same link diver model. The link driver to use in order to communicate with the copter is chosen with the -l
command line argument. Also the tools accepts the -h
argument that will display help about the link driver as well as the default driver used if none is provided:
crazyclient$ python gamepadCtrl.py -h CRTP Driver loader options: --------------------------- -l <driver_uri> : Load the link driver with the requested URI -h : Print this help message Unless otherwise specified the URI "radio://0" will be used
The available drivers are:
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):
$ make cload #or ... $ python crazyload.py flash cflie.bin Restart the CrazyFlie you want to bootload in the next 10 seconds ... Connection established! Flash pages: 128 | Page size: 1024 | Buffer pages: 10 | Start page: 10 118 KBytes of flash avaliable for firmware image. Flashing 43907 bytes (43 pages) ..........10..........10..........10..........10...3 Reset in firmware mode ... Done! $
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 will boot the new firmware
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$