Crate crazyflie_lib

Crazyflie library

This crate allows to connect, communicate with and control the Crazyflie using the crazyflie-link crate to open a communication link. The link implementation only supports radio for now, but more will be implemented in the future (at least USB).

Status

The crate aims at implementing a Rust API to control the Crazyflie. The Crazyflie functionalities are implemented in subsystems. The current status is:

Subsystem	Support
App channel	None
Commander	Partial (only RPYT)
Console	Full
High-level Commander	None
Localization	None
Log	Full (V2)
Memory	None
Param	Full(V2)
Platform	Full

Compatibility

This crate is compatible with Crazyflie protocol version > 4. This means Crazyflie firmware release >= 2018.08.

The Crazyflie guarantees backward functionalities for one protocol version so this lib will be compatible with version 4 (~2018-08) and 5 (future) of the protocol.

Usage

The basic procedure to use the lib is:

• Find the link URI to connect, either by scanning or as a config or user input
• Create a Crazyflie object from the URI or a connected Link, this will connect to the Crazyflie and initializes the subsystems
• Subsystems are available as public fields of the Crazyflie struct.
• Use the subsystems in the Crazyflie object to control the Crazyflie
• Drop the Crazyflie object or call crazyflie::Crazyflie::disconnect()

All subsystems functions are only taking an un-mutable reference to self (&self), the intention is for the Crazyflie object to be shared between tasks using Arc<> or Rc<>.

For example:

let link_context = crazyflie_link::LinkContext::new();

// Scan for Crazyflies on the default address
let found = link_context.scan([0xE7; 5]).await?;

if let Some(uri) = found.first() {
    let cf = crazyflie_lib::Crazyflie::connect_from_uri(&link_context, uri).await?;

    println!("List of params variables: ");
    for name in cf.param.names() {
        println!(" - {}", name);
    }

    println!("List of log variables: ");
    for name in cf.param.names() {
        println!(" - {}", name);
    }

    cf.disconnect().await;
}

Modules

subsystems

Crazyflie subsystems

Structs

Crazyflie

The Crazyflie

Enums

Error

Error enum type

Value

Typed data value

ValueType

Value type

Constants

SUPPORTED_PROTOCOL_VERSION

Supported protocol version

Type Aliases

Result

Result alias for return types of the crate API