cflib is an API written in Python that is used to communicate with the Crazyflie and Crazyflie 2.0 quadcopters. It is intended to be used by client software to communicate with and control a Crazyflie quadcopter. For instance the cfclient Crazyflie PC client uses the cflib.

See below for platform specific instruction. For more info see our wiki.

• Fork the cflib

• Clone the cflib, git clone git@github.com:YOUR-USERNAME/crazyflie-lib-python.git

• Install the cflib in editable mode, pip install -e path/to/cflib

• Uninstall the cflib if you don't want it any more, pip uninstall cflib

Note: If you are developing for the cfclient you must use python3.

The following should be executed in the root of the crazyflie-lib-python file tree.

This section contains a very short description of how to use virtualenv (local python environment) with package dependencies. If you don't want to use virualenv and don't mind installing cflib dependencies system-wide you can skip this section.

• Install virtualenv: pip install virtualenv

• create an environment: virtualenv venv

• Activate the environment: source venv/bin/activate

• To deactivate the virtualenv when you are done using it deactivate

Note: For systems that support make, you can use make venv to create an environment, activate it and install dependencies.

Install dependencies required by the lib: pip install -r requirements.txt

To verify the installation, connect the crazyflie and run an example: python examples/basiclog

For information and installation of the toolbelt.

• Check to see if you pass tests: tb test
• Check to see if you pass style guidelines: tb verify

Note: Docker and the toolbelt is an optional way of running tests and reduces the work needed to maintain your python environmet.

Tox is used for native testing: pip install tox

• If test fails after installing tox with pip install tox, installing with sudo apt-get install toxresult a successful test run

• Test package in python2.7 TOXENV=py27 tox

• Test package in python3.4 TOXENV=py34 tox

• Test package in python3.6 TOXENV=py36 tox

Note: You must have the specific python versions on your machine or tests will fail. (ie. without specifying the TOXENV, tox runs tests for python2.7, 3.3, 3.4 and would require all python versions to be installed on the machine.)

The following steps make it possible to use the USB Radio without being root.

sudo groupadd plugdev
sudo usermod -a -G plugdev <username>

Create a file named /etc/udev/rules.d/99-crazyradio.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"

To connect Crazyflie 2.0 via usb, create a file name /etc/udev/rules.d/99-crazyflie.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"

Everyone is encouraged to contribute to the CrazyFlie library by forking the Github repository and making a pull request or opening an issue.