Note: This repo is a fork of https://github.com/bitcraze/crazyflie-clients-python. It contains minimal changes for mocap forwarding and a learned-policy trigger for the RLtools/Learning to Fly in Seconds controller.

Installation

Create a venv and install this package into it:

pip install -e .

Custom additions

This fork adds:

• Vicon DataStream external-pose forwarding into cf.extpos.send_extpose(...)
• alt1 controller callback support for triggering the learned policy
• Optional joystream phone input, without a system joystick or HID entitlement

Phone input

Install with pip install -e '.[joystream]' (or install your local joystream checkout into the same environment), then run JOYSTREAM=1 cfclient. Connect the iPhone app to <computer-ip>:8000, or open http://<computer-ip>:8000 in a phone browser. Select joystream under Input device if another controller is selected.

The default Mode 2 mapping uses left stick for yaw/thrust, right for roll/pitch, A to arm, B for emergency stop, L1 for assisted control, and R1 for alt1. Saved mappings take precedence. Disconnect or 0.5s without input sends neutral controls while keeping the Crazyflie connection open; input resumes automatically when the phone sends again. JOYSTREAM_HOST and JOYSTREAM_PORT override the default listener (0.0.0.0:8000).

Learning to Fly in Seconds

Input mapping

Configure the input device as normal and assign alt1 to one of the shoulder buttons. alt1 activates the policy mid-flight.

Motion Capturing

The client can forward Vicon DataStream poses directly to the Crazyflie. ROS, mocap_vicon, and rosbridge_server are not required for this path.

Enable forwarding with:

VICON_DATASTREAM=1 cfclient

By default this connects to Vicon at 192.154.4.123, reads the object named crazyflie, uses its root segment, converts Vicon millimeters to meters, and forwards at 100 Hz.

Runtime overrides:

VICON_DATASTREAM_HOST=192.154.4.123
VICON_OBJECT_NAME=crazyflie
VICON_SEGMENT_NAME=crazyflie
VICON_POSITION_SCALE=0.001
VICON_FORWARD_RATE_HZ=100

If VICON_SEGMENT_NAME is omitted, the root segment for VICON_OBJECT_NAME is used. Set VICON_DATASTREAM=0 to disable forwarding even when other Vicon environment variables are present.

"Too many Packets Lost"

If this error appears, the connection was probably interrupted while the UI continued to send mocap/extpos messages. Restart the UI, Crazyflie, and Crazyradio.