The MotionCommander is used to make it easy to write scripts that moves the Crazyflie around. Some sort of positioning support is required, for instance the Flow deck.
The motion commander uses velocity setpoints and does not have a notion of absolute position, the error in position will accumulate over time.
The API contains a set of primitives that are easy to understand and use, such as “go forward” or “turn around”.
There are two flavors of primitives, one that is blocking and returns when a motion is completed, while the other starts a motion and returns immediately. In the second variation the user has to stop or change the motion when appropriate by issuing new commands.
The MotionCommander can be used as context manager using the with keyword. In this mode of operation takeoff and landing is executed when the context is created/closed.
Classes
MotionCommander
MotionCommander(crazyflie, default_height=0.3)
The motion commander
Construct an instance of a MotionCommander
Parameters
| Name | Description |
|---|---|
| crazyflie | A Crazyflie or SyncCrazyflie instance |
| default_height | The default height to fly at |
Class variables
RATE
VELOCITY
Methods
def back(self, distance_m, velocity=0.2)
Go backwards
Parameters
| Name | Description |
|---|---|
| distance_m | The distance to travel (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def circle_left(self, radius_m, velocity=0.2, angle_degrees=360.0)
Go in circle, counter clock wise
Parameters
| Name | Description |
|---|---|
| radius_m | The radius of the circle (meters) |
| velocity | The velocity along the circle (meters/second) |
| angle_degrees | How far to go in the circle (degrees):return: |
def circle_right(self, radius_m, velocity=0.2, angle_degrees=360.0)
Go in circle, clock wise
Parameters
| Name | Description |
|---|---|
| radius_m | The radius of the circle (meters) |
| velocity | The velocity along the circle (meters/second) |
| angle_degrees | How far to go in the circle (degrees):return: |
def down(self, distance_m, velocity=0.2)
Go down
Parameters
| Name | Description |
|---|---|
| distance_m | The distance to travel (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def forward(self, distance_m, velocity=0.2)
Go forward
Parameters
| Name | Description |
|---|---|
| distance_m | The distance to travel (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def land(self, velocity=0.2)
Go straight down and turn off the motors.
Do not call this function if you use the with keyword. Landing is done automatically when the context goes out of scope.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity (meters/second) when going down:return: |
def left(self, distance_m, velocity=0.2)
Go left
Parameters
| Name | Description |
|---|---|
| distance_m | The distance to travel (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def move_distance(self, distance_x_m, distance_y_m, distance_z_m, velocity=0.2)
Move in a straight line. positive X is forward positive Y is left positive Z is up
Parameters
| Name | Description |
|---|---|
| distance_x_m | The distance to travel along the X-axis (meters) |
| distance_y_m | The distance to travel along the Y-axis (meters) |
| distance_z_m | The distance to travel along the Z-axis (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def right(self, distance_m, velocity=0.2)
Go right
Parameters
| Name | Description |
|---|---|
| distance_m | The distance to travel (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def start_back(self, velocity=0.2)
Start moving backwards. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity of the motion (meters/second):return: |
def start_circle_left(self, radius_m, velocity=0.2)
Start a circular motion to the left. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| radius_m | The radius of the circle (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def start_circle_right(self, radius_m, velocity=0.2)
Start a circular motion to the right. This function returns immediately
Parameters
| Name | Description |
|---|---|
| radius_m | The radius of the circle (meters) |
| velocity | The velocity of the motion (meters/second):return: |
def start_down(self, velocity=0.2)
Start moving down. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity of the motion (meters/second):return: |
def start_forward(self, velocity=0.2)
Start moving forward. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity of the motion (meters/second):return: |
def start_left(self, velocity=0.2)
Start moving left. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity of the motion (meters/second):return: |
def start_linear_motion(self, velocity_x_m, velocity_y_m, velocity_z_m, rate_yaw=0.0)
Start a linear motion with an optional yaw rate input. This function returns immediately.
positive X is forward positive Y is left positive Z is up
Parameters
| Name | Description |
|---|---|
| velocity_x_m | The velocity along the X-axis (meters/second) |
| velocity_y_m | The velocity along the Y-axis (meters/second) |
| velocity_z_m | The velocity along the Z-axis (meters/second) |
| rate | The angular rate (degrees/second):return: |
def start_right(self, velocity=0.2)
Start moving right. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity of the motion (meters/second):return: |
def start_turn_left(self, rate=72.0)
Start turning left. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| rate | The angular rate (degrees/second):return: |
def start_turn_right(self, rate=72.0)
Start turning right. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| rate | The angular rate (degrees/second):return: |
def start_up(self, velocity=0.2)
Start moving up. This function returns immediately.
Parameters
| Name | Description |
|---|---|
| velocity | The velocity of the motion (meters/second):return: |
def stop(self)
Stop any motion and hover.
:return:
def take_off(self, height=None, velocity=0.2)
Takes off, that is starts the motors, goes straight up and hovers. Do not call this function if you use the with keyword. Take off is done automatically when the context is created.
Parameters
| Name | Description |
|---|---|
| height | The height (meters) to hover at. None uses the default height set when constructed. |
| velocity | The velocity (meters/second) when taking off:return: |
def turn_left(self, angle_degrees, rate=72.0)
Turn to the left, staying on the spot
Parameters
| Name | Description |
|---|---|
| angle_degrees | How far to turn (degrees) |
| rate | The turning speed (degrees/second):return: |
def turn_right(self, angle_degrees, rate=72.0)
Turn to the right, staying on the spot
Parameters
| Name | Description |
|---|---|
| angle_degrees | How far to turn (degrees) |
| rate | The turning speed (degrees/second):return: |
def up(self, distance_m, velocity=0.2)
Go up
Parameters
| Name | Description |
|---|---|
| distance_m | The distance to travel (meters) |
| velocity | The velocity of the motion (meters/second):return: |