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Initial checkpoint: Crazyflie mission client (DearPyGui)
Two-step ARM -> LAUNCH -> LAND flight flow for a Crazyflie + Flow v2 deck:
- controller.py: cflib link + flight logic on one worker thread with a
command queue. Supervisor arming, Kalman estimator reset/convergence
wait, high-level-commander takeoff/land, configurable hover height
(0.2-2.0 m), emergency stop, graceful land-on-shutdown, thread-safe
snapshot()/scan(). States: DISCONNECTED/CONNECTING/READY/ARMING/ARMED/
FLYING/LANDING/EMERGENCY/ERROR.
- mission_client.py: DearPyGui front-end, manual render loop polling
snapshot() each frame. Context button ARM(green)->LAUNCH(blue)->LAND
(yellow), secondary Disarm, hover-height slider, console log, and an
Estimator state panel (x/y/z, yaw, flow counts) for drift inspection.
- uv-managed (pyproject.toml + uv.lock); run `uv run mission_client.py`.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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2026-06-23 15:44:07 -07:00 |
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