Manually arm Crazyflies in all examples

examples/aideck/fpv.py

@@ -48,6 +48,7 @@
 import struct
 import sys
 import threading
+from time import time
 
 import numpy as np
 
@@ -185,6 +186,10 @@ def __init__(self, URI):
 
             self.hover = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'height': 0.3}
 
+            # Arm the Crazyflie
+            self.cf.platform.send_arming_request(True)
+            time.sleep(1.0)
+
             self.hoverTimer = QtCore.QTimer()
             self.hoverTimer.timeout.connect(self.sendHoverCommand)
             self.hoverTimer.setInterval(100)

examples/autonomy/autonomousSequence.py

@@ -127,6 +127,10 @@ def start_position_printing(scf):
 def run_sequence(scf, sequence):
     cf = scf.cf
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     for position in sequence:
         print('Setting position {}'.format(position))
         for i in range(50):

examples/autonomy/autonomous_sequence_high_level.py

@@ -140,6 +140,10 @@ def upload_trajectory(cf, trajectory_id, trajectory):
 def run_sequence(cf, trajectory_id, duration):
     commander = cf.high_level_commander
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     commander.takeoff(1.0, 2.0)
     time.sleep(3.0)
     relative = True

examples/autonomy/autonomous_sequence_high_level_compressed.py

@@ -137,6 +137,10 @@ def upload_trajectory(cf, trajectory_id, trajectory):
 def run_sequence(cf, trajectory_id, duration):
     commander = cf.high_level_commander
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     commander.takeoff(1.0, 2.0)
     time.sleep(3.0)
     relative = True

examples/autonomy/circling_square_demo.py

@@ -162,6 +162,10 @@ def turn_off_leds(scf):
 
 
 def run_sequence(scf, alpha, r):
+    # Arm the Crazyflie
+    scf.cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     commander = scf.cf.high_level_commander
     trajectory_id = 1
     duration = 4*t

examples/autonomy/full_state_setpoint_demo.py

@@ -134,6 +134,10 @@ def run_sequence(scf):
     # Set to mellinger controller
     # cf.param.set_value('stabilizer.controller', '2')
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     print('takeoff')
     send_setpoint(cf, 4.0,
                   [0.0, 0.0, 1.0],

examples/autonomy/motion_commander_demo.py

@@ -52,6 +52,10 @@
     cflib.crtp.init_drivers()
 
     with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         # We take off when the commander is created
         with MotionCommander(scf) as mc:
             time.sleep(1)

examples/autonomy/position_commander_demo.py

@@ -29,6 +29,8 @@
 
 Change the URI variable to your Crazyflie configuration.
 """
+from time import time
+
 import cflib.crtp
 from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
@@ -41,6 +43,10 @@
 
 def slightly_more_complex_usage():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(
                 scf,
                 x=0.0, y=0.0, z=0.0,
@@ -67,6 +73,10 @@ def slightly_more_complex_usage():
 
 def land_on_elevated_surface():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(scf,
                                  default_height=0.5,
                                  default_velocity=0.2,
@@ -80,6 +90,10 @@ def land_on_elevated_surface():
 
 def simple_sequence():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(scf, controller=PositionHlCommander.CONTROLLER_PID) as pc:
             pc.forward(1.0)
             pc.left(1.0)

examples/lighthouse/lighthouse_openvr_grab.py

@@ -171,6 +171,11 @@ def run_sequence(scf):
 
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         reset_estimator(scf)
+
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         run_sequence(scf)
 
     openvr.shutdown()

examples/lighthouse/lighthouse_openvr_grab_color.py

@@ -203,6 +203,11 @@ def run_sequence(scf):
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         reset_estimator(scf)
         # start_position_printing(scf)
+
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         run_sequence(scf)
 
     openvr.shutdown()

examples/lighthouse/lighthouse_openvr_multigrab.py

@@ -199,6 +199,12 @@ def run_sequence(scf0, scf1):
         reset_estimator(scf0)
         with SyncCrazyflie(uri1, cf=Crazyflie(rw_cache='./cache')) as scf1:
             reset_estimator(scf1)
+
+            # Arm the Crazyflies
+            scf0.cf.platform.send_arming_request(True)
+            scf1.cf.platform.send_arming_request(True)
+            time.sleep(1.0)
+
             run_sequence(scf0, scf1)
 
     openvr.shutdown()

examples/mocap/mocap_hl_commander.py

@@ -233,6 +233,11 @@ def run_sequence(cf, trajectory_id, duration):
         duration = upload_trajectory(cf, trajectory_id, figure8)
         print('The sequence is {:.1f} seconds long'.format(duration))
         reset_estimator(cf)
+
+        # Arm the Crazyflie
+        cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         run_sequence(cf, trajectory_id, duration)
 
     mocap_wrapper.close()

examples/mocap/qualisys_hl_commander.py

@@ -296,6 +296,11 @@ def run_sequence(cf, trajectory_id, duration):
         duration = upload_trajectory(cf, trajectory_id, figure8)
         print('The sequence is {:.1f} seconds long'.format(duration))
         reset_estimator(cf)
+
+        # Arm the Crazyflie
+        cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         run_sequence(cf, trajectory_id, duration)
 
     qtm_wrapper.close()

examples/motors/multiramp.py

@@ -59,6 +59,10 @@ def _connected(self, link_uri):
         """ This callback is called form the Crazyflie API when a Crazyflie
         has been connected and the TOCs have been downloaded."""
 
+        # Arm the Crazyflie
+        self._cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         # Start a separate thread to do the motor test.
         # Do not hijack the calling thread!
         Thread(target=self._ramp_motors).start()

examples/motors/ramp.py

@@ -60,6 +60,10 @@ def _connected(self, link_uri):
         """ This callback is called form the Crazyflie API when a Crazyflie
         has been connected and the TOCs have been downloaded."""
 
+        # Arm the Crazyflie
+        self._cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         # Start a separate thread to do the motor test.
         # Do not hijack the calling thread!
         Thread(target=self._ramp_motors).start()
@@ -98,7 +102,7 @@ def _ramp_motors(self):
         self._cf.commander.send_setpoint(0, 0, 0, 0)
         # Make sure that the last packet leaves before the link is closed
         # since the message queue is not flushed before closing
-        time.sleep(0.1)
+        time.sleep(1)
         self._cf.close_link()
 
 

examples/multiranger/multiranger_pointcloud.py

@@ -50,6 +50,7 @@
 import logging
 import math
 import sys
+from time import time
 
 import numpy as np
 from vispy import scene
@@ -111,6 +112,10 @@ def __init__(self, URI):
         # Connect to the Crazyflie
         self.cf.open_link(URI)
 
+        # Arm the Crazyflie
+        self.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         self.hover = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'height': 0.3}
 
         self.hoverTimer = QtCore.QTimer()

examples/multiranger/multiranger_push.py

@@ -74,6 +74,10 @@ def is_close(range):
 
     cf = Crazyflie(rw_cache='./cache')
     with SyncCrazyflie(URI, cf=cf) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with MotionCommander(scf) as motion_commander:
             with Multiranger(scf) as multiranger:
                 keep_flying = True

examples/multiranger/multiranger_wall_following.py

@@ -82,6 +82,10 @@ def handle_range_measurement(range):
 
     cf = Crazyflie(rw_cache='./cache')
     with SyncCrazyflie(URI, cf=cf) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with MotionCommander(scf) as motion_commander:
             with Multiranger(scf) as multiranger:
                 with SyncLogger(scf, lg_stab) as logger:

examples/positioning/flowsequenceSync.py

@@ -54,6 +54,10 @@
         cf.param.set_value('kalman.resetEstimation', '0')
         time.sleep(2)
 
+        # Arm the Crazyflie
+        cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         for y in range(10):
             cf.commander.send_hover_setpoint(0, 0, 0, y / 25)
             time.sleep(0.1)

examples/positioning/initial_position.py

@@ -118,6 +118,10 @@ def reset_estimator(scf):
 def run_sequence(scf, sequence, base_x, base_y, base_z, yaw):
     cf = scf.cf
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     for position in sequence:
         print('Setting position {}'.format(position))
 

examples/positioning/matrix_light_printer.py

@@ -110,5 +110,9 @@ def matrix_print(cf, pc, image_def):
     image_def = ImageDef('monalisa.png')
 
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+        # Arm the Crazyflie
+        scf.cf.platform.send_arming_request(True)
+        time.sleep(1.0)
+
         with PositionHlCommander(scf, default_height=0.5, controller=PositionHlCommander.CONTROLLER_PID) as pc:
             matrix_print(scf.cf, pc, image_def)

examples/step-by-step/sbs_swarm.py

@@ -44,6 +44,11 @@ def light_check(scf: SyncCrazyflie):
     time.sleep(2)
 
 
+def arm(scf: SyncCrazyflie):
+    scf.cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
+
 def take_off(scf: SyncCrazyflie):
     commander = scf.cf.high_level_commander
 
@@ -161,6 +166,7 @@ def run_sequence(scf: SyncCrazyflie, sequence):
         swarm.reset_estimators()
         print('Estimators have been reset')
 
+        swarm.parallel_safe(arm)
         swarm.parallel_safe(take_off)
         # swarm.parallel_safe(run_square_sequence)
         swarm.parallel_safe(run_sequence, args_dict=seq_args)

examples/swarm/hl-commander-swarm.py

@@ -44,6 +44,11 @@ def activate_mellinger_controller(scf, use_mellinger):
     scf.cf.param.set_value('stabilizer.controller', controller)
 
 
+def arm(scf):
+    scf.cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
+
 def run_shared_sequence(scf):
     activate_mellinger_controller(scf, False)
 
@@ -84,4 +89,5 @@ def run_shared_sequence(scf):
     factory = CachedCfFactory(rw_cache='./cache')
     with Swarm(uris, factory=factory) as swarm:
         swarm.reset_estimators()
+        swarm.parallel_safe(arm)
         swarm.parallel_safe(run_shared_sequence)

examples/swarm/swarmSequence.py

@@ -171,6 +171,11 @@ def wait_for_param_download(scf):
     print('Parameters downloaded for', scf.cf.link_uri)
 
 
+def arm(scf):
+    scf.cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
+
 def take_off(cf, position):
     take_off_time = 1.0
     sleep_time = 0.1
@@ -209,6 +214,7 @@ def run_sequence(scf, sequence):
     try:
         cf = scf.cf
 
+        arm(cf)
         take_off(cf, sequence[0])
         for position in sequence:
             print('Setting position {}'.format(position))

examples/swarm/swarmSequenceCircle.py

@@ -87,6 +87,10 @@ def poshold(cf, t, z):
 def run_sequence(scf, params):
     cf = scf.cf
 
+    # Arm the Crazyflie
+    cf.platform.send_arming_request(True)
+    time.sleep(1.0)
+
     # Number of setpoints sent per second
     fs = 4
     fsi = 1.0 / fs