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	Full
Commander	Full
Console	Full
High-level Commander	Full
Localization	Full
Log	Full (V2)
Memory	None
Param	Full(V2)
Platform	Full

Compatibility

This crate is compatible with Crazyflie protocol version >= SUPPORTED_PROTOCOL_VERSION.

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,
        crazyflie_lib::NoTocCache
    ).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

NoTocCache

Null implementation of ToC cache to be used when no caching is needed.

Enums

Error

Error enum type

Value

Typed data value

ValueType

Value type

Constants

SUPPORTED_PROTOCOL_VERSION

Supported protocol version

Traits

TocCache

A trait for caching Table of Contents (TOC) data.

Type Aliases

Result

Result alias for return types of the crate API