Crazyflie Python Library

Rust-powered Python library for Crazyflie quadcopters

This library is a ground-up rewrite with breaking changes from the original cflib. The API is async-first, powered by Rust via PyO3, and is not yet stable. Expect breaking changes.

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Quick Start

import asyncio
from cflib2 import Crazyflie, LinkContext

async def main():
    context = LinkContext()

    # Scan for Crazyflies
    uris = await context.scan(address=list(bytes.fromhex("E7E7E7E7E7")))
    print(f"Found: {uris}")

    # Connect and read a parameter
    cf = await Crazyflie.connect_from_uri(context, "radio://0/80/2M/E7E7E7E7E7")
    param = cf.param()
    value = await param.get("pm.lowVoltage")
    print(f"Low voltage threshold: {value}V")
    await cf.disconnect()

asyncio.run(main())

See the examples/ directory for more.

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Development Setup

Prerequisites

• Rust toolchain (cargo)
• uv package manager

Initial Setup

1. Install dependencies:

   uv sync --group dev

2. Install pre-commit hooks:

   uv run pre-commit install

3. Build the project:

   cargo build --lib --manifest-path rust/Cargo.toml && \
   uv run maturin develop && \
   uv sync && \
   uvx ruff check . && \
   uvx ruff format .

Development Workflow

After making changes to Rust code, rebuild with:

cargo build --lib --manifest-path rust/Cargo.toml && \
uv run maturin develop && \
uv sync && \
uvx ruff check . && \
uvx ruff format .

This uses debug mode for faster compilation during development.

Performance Testing During Development

To benchmark or test performance locally with optimizations enabled:

cargo build --release --lib --manifest-path rust/Cargo.toml && \
uv run maturin develop --release

Note: When users pip install your package (from git or PyPI), maturin automatically builds in release mode. This section is only for testing optimized performance during local development.

Regenerating Python Stubs

To regenerate cflib2/_rust.pyi after changing the Rust API:

cargo run --bin stub_gen --manifest-path rust/Cargo.toml --no-default-features && \
uv run scripts/fix_stubs.py cflib2/_rust.pyi && uvx ruff format .

The --no-default-features flag is required because the default extension-module feature tells PyO3 not to link against libpython (extension modules get those symbols from the Python interpreter). The stub generator is a standalone binary, so it needs libpython linked directly.

The fix_stubs.py script converts Coroutine[Any, Any, T] return types to async def ... -> T, which is needed because our async methods use pyo3-async-runtimes (not native async fn) and pyo3_stub_gen can't detect them as async.

Pre-commit hooks will automatically run linting and formatting on commit.

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License

GPLv3+ - see LICENSE