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 keeps two small additions on top of the normal cfclient UI:

• Vicon DataStream external-pose forwarding into cf.extpos.send_extpose(...)
• alt1 controller callback support for triggering the learned policy

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.