Used for sending control setpoints to the Crazyflie
Classes
Commander
Commander(crazyflie=None)
Used for sending control setpoints to the Crazyflie
Initialize the commander object. By default the commander is in +-mode (not x-mode).
Methods
def send_full_state_setpoint(self, pos, vel, acc, orientation, rollrate, pitchrate, yawrate)
Control mode where the position, velocity, acceleration, orientation and angular velocity are sent as absolute (world) values.
position [x, y, z] are in m velocity [vx, vy, vz] are in m/s acceleration [ax, ay, az] are in m/s^2 orientation [qx, qy, qz, qw] are the quaternion components of the orientation rollrate, pitchrate, yawrate are in degrees/s
def send_hover_setpoint(self, vx, vy, yawrate, zdistance)
Control mode where the height is send as an absolute setpoint (intended to be the distance to the surface under the Crazflie), while giving x, y velocity commands in body-fixed coordinates.
vx, vy are in m/s yawrate is in degrees/s zdistance is in meters
def send_notify_setpoint_stop(self, remain_valid_milliseconds=0)
Sends a packet so that the priority of the current setpoint to the lowest non-disabled value, so any new setpoint regardless of source will overwrite it.
def send_position_setpoint(self, x, y, z, yaw)
Control mode where the position is sent as absolute (world) x,y,z coordinate in meter and the yaw is the absolute orientation.
x, y, z are in m yaw is in degrees
def send_setpoint(self, roll, pitch, yawrate, thrust)
Send a new control setpoint for roll/pitch/yaw_Rate/thrust to the copter.
The meaning of these values is depended on the mode of the RPYT commander in the firmware.
The roll, pitch and yaw can be set in a rate or absolute mode with parameter group
flightmode with variables stabModeRoll, .stabModeRoll and .stabModeRoll.
Default settings are roll, pitch, yawrate and thrust
roll, pitch are in degrees, yawrate is in degrees/s, thrust is an integer value ranging from 10001 (next to no power) to 60000 (full power)
def send_stop_setpoint(self)
Send STOP setpoing, stopping the motors and (potentially) falling.
def send_velocity_world_setpoint(self, vx, vy, vz, yawrate)
Send Velocity in the world frame of reference setpoint with yawrate commands
vx, vy, vz are in m/s yawrate is in degrees/s
def send_zdistance_setpoint(self, roll, pitch, yawrate, zdistance)
Control mode where the height is send as an absolute setpoint (intended to be the distance to the surface under the Crazflie), while giving roll, pitch and yaw rate commands
roll, pitch are in degrees yawrate is in degrees/s zdistance is in meters
def set_client_xmode(self, enabled)
Enable/disable the client side X-mode. When enabled this recalculates the setpoints before sending them to the Crazyflie.