Merge branch 'master' into rik/latency

.github/workflows/dependency_check.yml

@@ -6,19 +6,19 @@ on:
   - cron:  '0 2 * * *'
 
 jobs:
-#  python-latest:
-#    runs-on: ubuntu-latest
-#    container:
-#      image: python:latest
-#
-#    steps:
-#      - uses: actions/checkout@v4
-#
-#      - name: python version
-#        run: python --version
-#
-#      - name: install lib
-#        run: pip install -e .
+  python-latest:
+    runs-on: ubuntu-latest
+    container:
+      image: python:latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: python version
+        run: python --version
+
+      - name: install lib
+        run: pip install -e .
 
   python-python311:
     runs-on: ubuntu-latest
@@ -34,10 +34,10 @@ jobs:
       - name: install lib
         run: pip install -e .
 
-  minimum-python37:
+  minimum-python310:
     runs-on: ubuntu-latest
     container:
-      image: python:3.7
+      image: python:3.10
 
     steps:
       - uses: actions/checkout@v4

cflib/bootloader/__init__.py

@@ -37,6 +37,8 @@
 from typing import Optional
 from typing import Tuple
 
+from packaging.version import Version
+
 from .boottypes import BootVersion
 from .boottypes import TargetTypes
 from .cloader import Cloader
@@ -202,10 +204,12 @@ def flash(self, filename: str, targets: List[Target], cf=None, enable_console_lo
         update_contains_nrf_sd = any(x.target.type == 'bootloader+softdevice' for x in flash_artifacts)
         current_nrf_bl_version = None
         if self._cload.targets[TargetTypes.NRF51].version is not None:
-            current_nrf_bl_version = str(self._cload.targets[TargetTypes.NRF51].version)
-        provided_nrf_bl_version = self._get_provided_nrf51_bl_version(flash_artifacts)
+            current_nrf_bl_version = Version(str(self._cload.targets[TargetTypes.NRF51].version))
+        provided_nrf_bl_version = None
+        if self._get_provided_nrf51_bl_version(flash_artifacts) is not None:
+            provided_nrf_bl_version = Version(self._get_provided_nrf51_bl_version(flash_artifacts))
 
-        print('nRF51 has: {} and requires {} and upgrade provides {}. Current bootloader version is [{}] but upgrade '
+        print('nRF51 has: {} and requires {} and upgrade provides {}. Current bootloader version is [{}] and upgrade '
               'provides [{}]'.format(
                   current_nrf_sd_version, required_nrf_sd_version, provided_nrf_sd_version,
                   current_nrf_bl_version, provided_nrf_bl_version)
@@ -252,6 +256,8 @@ def flash(self, filename: str, targets: List[Target], cf=None, enable_console_lo
             print('Reconnected to new bootloader')
             self._cload.check_link_and_get_info()
             self._cload.request_info_update(TargetTypes.NRF51)
+        else:
+            print('No need to flash nRF soft device')
 
         # Remove the softdevice+bootloader from the list of artifacts to flash
         flash_artifacts = [a for a in flash_artifacts if a.target.type !=

cflib/crazyflie/__init__.py

@@ -94,6 +94,8 @@ def __init__(self, link=None, ro_cache=None, rw_cache=None):
 
         # Called if establishing of the link fails (i.e times out)
         self.connection_failed = Caller()
+        # Called if link driver has an error while state is DISCONNECTED
+        self.disconnected_link_error = Caller()
         # Called for every packet received
         self.packet_received = Caller()
         # Called for every packet sent
@@ -205,10 +207,12 @@ def _link_error_cb(self, errmsg):
         self.link = None
         if (self.state == State.INITIALIZED):
             self.connection_failed.call(self.link_uri, errmsg)
-        if (self.state == State.CONNECTED or
+        elif (self.state == State.CONNECTED or
                 self.state == State.SETUP_FINISHED):
             self.disconnected.call(self.link_uri)
             self.connection_lost.call(self.link_uri, errmsg)
+        elif (self.state == State.DISCONNECTED):
+            self.disconnected_link_error.call(self.link_uri, errmsg)
         self.state = State.DISCONNECTED
 
     def _link_quality_cb(self, percentage):

cflib/crazyflie/high_level_commander.py

@@ -25,6 +25,7 @@
 """
 Used for sending high level setpoints to the Crazyflie
 """
+import math
 import struct
 
 from cflib.crtp.crtpstack import CRTPPacket
@@ -46,6 +47,8 @@ class HighLevelCommander():
     COMMAND_DEFINE_TRAJECTORY = 6
     COMMAND_TAKEOFF_2 = 7
     COMMAND_LAND_2 = 8
+    COMMAND_SPIRAL = 11
+    COMMAND_GO_TO_2 = 12
 
     ALL_GROUPS = 0
 
@@ -131,7 +134,7 @@ def stop(self, group_mask=ALL_GROUPS):
                                       self.COMMAND_STOP,
                                       group_mask))
 
-    def go_to(self, x, y, z, yaw, duration_s, relative=False,
+    def go_to(self, x, y, z, yaw, duration_s, relative=False, linear=False,
               group_mask=ALL_GROUPS):
         """
         Go to an absolute or relative position
@@ -142,15 +145,67 @@ def go_to(self, x, y, z, yaw, duration_s, relative=False,
         :param yaw: Yaw (radians)
         :param duration_s: Time it should take to reach the position (s)
         :param relative: True if x, y, z is relative to the current position
+        :param linear: True to use linear interpolation instead of a smooth polynomial
         :param group_mask: Mask for which CFs this should apply to
         """
-        self._send_packet(struct.pack('<BBBfffff',
-                                      self.COMMAND_GO_TO,
-                                      group_mask,
-                                      relative,
-                                      x, y, z,
-                                      yaw,
-                                      duration_s))
+        if self._cf.platform.get_protocol_version() < 8:
+            if linear:
+                print('Warning: Linear mode not supported in protocol version < 8, update your crazyflie\'s firmware')
+            self._send_packet(struct.pack('<BBBfffff',
+                                          self.COMMAND_GO_TO,
+                                          group_mask,
+                                          relative,
+                                          x, y, z,
+                                          yaw,
+                                          duration_s))
+        else:
+            self._send_packet(struct.pack('<BBBBfffff',
+                                          self.COMMAND_GO_TO_2,
+                                          group_mask,
+                                          relative,
+                                          linear,
+                                          x, y, z,
+                                          yaw,
+                                          duration_s))
+
+    def spiral(self, angle, r0, rF, ascent, duration_s, sideways=False, clockwise=False,
+               group_mask=ALL_GROUPS):
+        """
+        Follow a spiral-like segment (spline approximation of a spiral/arc for <= 90-degree segments)
+
+        :param angle: spiral angle (rad), limited to +/- 2pi
+        :param r0: initial radius (m), must be positive
+        :param rF: final radius (m), must be positive
+        :param ascent: altitude gain (m), positive to climb, negative to descent
+        :param duration_s: time it should take to reach the end of the spiral (s)
+        :param sideways: true if crazyflie should spiral sideways instead of forward
+        :param clockwise: true if crazyflie should spiral clockwise instead of counter-clockwise
+        :param group_mask: Mask for which CFs this should apply to
+        """
+        if self._cf.platform.get_protocol_version() < 8:
+            print('Warning: Spiral command is not supported in protocol version < 8, update your crazyflie\'s firmware')
+        else:
+            if angle > 2*math.pi:
+                angle = 2*math.pi
+                print('Warning: Spiral angle saturated at 2pi as it was too large')
+            elif angle < -2*math.pi:
+                angle = -2*math.pi
+                print('Warning: Spiral angle saturated at -2pi as it was too small')
+            if r0 < 0:
+                r0 = 0
+                print('Warning: Initial radius set to 0 as it cannot be negative')
+            if rF < 0:
+                rF = 0
+                print('Warning: Final radius set to 0 as it cannot be negative')
+            self._send_packet(struct.pack('<BBBBfffff',
+                                          self.COMMAND_SPIRAL,
+                                          group_mask,
+                                          sideways,
+                                          clockwise,
+                                          angle,
+                                          r0, rF,
+                                          ascent,
+                                          duration_s))
 
     def start_trajectory(self, trajectory_id, time_scale=1.0, relative=False,
                          reversed=False, group_mask=ALL_GROUPS):

docs/development/matlab.md

@@ -3,12 +3,11 @@ title: Using Matlab with the Crazyflie API
 page_id: matlab 
 ---
 
+**Note that these are old instructions and they might not work anymore**
 
 To use the Python cflib with matlab, you will need to install the python 'matlab engine' and then can access all matlab commands
 directly from python.
 
-*Note that these are old instructions and they might not work anymore**
-
 Tried with
 -------------
 

docs/index.md

@@ -1,10 +1,10 @@
 ---
 title: Home
-page_id: home 
+page_id: home
 ---
 
 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
+and Crazyflie 2.x quadcopters. It is intended to be used by client software to
 communicate with and control a Crazyflie quadcopter. For instance the [Crazyflie PC client](https://github.com/bitcraze/crazyflie-clients-python)  uses the cflib.
 
 ## Contribute

docs/installation/install.md

@@ -5,7 +5,7 @@ page_id: install
 
 ## Requirements
 
-This project requires Python 3.8 - 3.12.
+This project requires Python 3.10+.
 
 
 See below sections for more platform-specific requirements.
@@ -28,7 +28,7 @@ pip uninstall cflib
 
 Note: If you are developing for the cflib you must use python3. On Ubuntu (20.04+) use `pip3` instead of `pip`.
 
-### Linux, OSX, Windows
+### Linux, macOS, Windows
 
 The following should be executed in the root of the crazyflie-lib-python file tree.
 
@@ -44,8 +44,8 @@ you can skip this section.
 
 * To deactivate the virtualenv when you are done using it `deactivate`
 
-### Pre commit hooks (Ubuntu)
-If you want some extra help with keeping to the mandated python coding style you can install hooks that verify your style at commit time. This is done by running:
+### Pre-commit hooks (Ubuntu)
+If you want some extra help with keeping to the mandated Python coding style you can install hooks that verify your style at commit time. This is done by running:
 ```
 $ pip3 install pre-commit
 ```

examples/aideck/fpv.py

@@ -64,7 +64,7 @@
 except ImportError:
     pass
 
-from PyQt5 import QtCore, QtWidgets, QtGui
+from PyQt6 import QtCore, QtWidgets, QtGui
 
 logging.basicConfig(level=logging.INFO)
 

examples/memory/erase-ow.py

@@ -22,8 +22,11 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.
 """
+Warning: you will have to write new data to the memory to make it
+usable again. Use with caution.
+
 Simple example that connects to the first Crazyflie found, looks for
-EEPROM memories and lists its contents.
+EEPROM memories and erases its contents.
 """
 import logging
 import sys
@@ -42,7 +45,7 @@
 
 class EEPROMExample:
     """
-    Simple example listing the EEPROMs found and lists its contents.
+    Simple example listing the EEPROMs found and erases its contents.
     """
 
     def __init__(self, link_uri):
@@ -122,6 +125,8 @@ def _disconnected(self, link_uri):
 
 
 if __name__ == '__main__':
+    input('Warning, this will erase EEPROM memory, press enter to continue...')
+
     # Initialize the low-level drivers
     cflib.crtp.init_drivers()
 

examples/memory/write-eeprom.py

@@ -83,7 +83,7 @@ def _connected(self, link_uri):
             elems['roll_trim'] = 0.0
             elems['radio_channel'] = 80
             elems['radio_speed'] = 2
-            elems['radio_address'] = 0xDEADBEEF
+            elems['radio_address'] = 0xE7E7E7E7E7
 
             mems[0].write_data(self._data_written)
 

examples/mocap/qualisys_hl_commander.py

@@ -33,7 +33,7 @@
 import xml.etree.cElementTree as ET
 from threading import Thread
 
-import qtm
+import qtm_rt
 from scipy.spatial.transform import Rotation
 
 import cflib.crtp
@@ -106,7 +106,7 @@ async def _connect(self):
         qtm_instance = await self._discover()
         host = qtm_instance.host
         print('Connecting to QTM on ' + host)
-        self.connection = await qtm.connect(host)
+        self.connection = await qtm_rt.connect(host)
 
         params = await self.connection.get_parameters(parameters=['6d'])
         xml = ET.fromstring(params)
@@ -117,7 +117,7 @@ async def _connect(self):
             on_packet=self._on_packet)
 
     async def _discover(self):
-        async for qtm_instance in qtm.Discover('0.0.0.0'):
+        async for qtm_instance in qtm_rt.Discover('0.0.0.0'):
             return qtm_instance
 
     def _on_packet(self, packet):

examples/radio/radio-test.py

@@ -10,11 +10,10 @@
 
     This script should be used on a Crazyflie with bluetooth disabled and RSSI
     ack packet enabled to get RSSI feedback. To configure the Crazyflie in this
-    mode build the crazyflie2-nrf-firmware with
-    ```make BLE=0 CONFIG=-DRSSI_ACK_PACKET```.
-    Additionally, the Crazyflie must be using the default address 0xE7E7E7E7E7.
-    See https://github.com/bitcraze/crazyflie-lib-python/issues/131 for more
-    informations.
+    mode build the crazyflie2-nrf-firmware with `CFLAGS += -DRSSI_ACK_PACKET=1`
+    in `config.mk`. Additionally, the Crazyflie must be using the default address
+    0xE7E7E7E7E7. See https://github.com/bitcraze/crazyflie-lib-python/issues/131
+    for more information.
 '''
 import argparse
 

setup.py

@@ -13,7 +13,7 @@
 
 setup(
     name='cflib',
-    version='0.1.26',
+    version='0.1.27',
     packages=find_packages(exclude=['examples', 'test']),
 
     description='Crazyflie python driver',
@@ -41,6 +41,7 @@
         'libusb-package~=1.0',
         'scipy~=1.7',
         'numpy~=1.20',
+        'packaging~=24.0',
     ],
 
     # $ pip install -e .[dev]

sys_test/single_cf_grounded/README.md

@@ -1,4 +1,4 @@
-# Tests for a single Crazyflie 2.X (USB & Crazyradio) without flight
+# Tests for a single Crazyflie 2.x (USB & Crazyradio) without flight
 
 ## Preparation