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github.com/bitcraze/crazyflie-simulation @main

29 symbols 140 edges 12 files 2 documented · 7%

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README

crazyflie-simulation

This repo contains a very minimal simulation setup for the Crazyflie. It's not actively maintained, and not very realistic in terms of dynamics. That said, it might still be useful for simple tests, demos, or inspiration.

It includes low-resolution meshes based on the Crazyflie 2.1. These are intentionally simplified to reduce vertex count, making them lightweight enough to simulate many units at once.

Installation

See the installation instructions in the Github docs folder.

Official documentation

More details can be found in the Bitcraze crazyflie-simulation documentation.

Contribute

Contributions are welcome! See the contribute page on our website for how to get involved.

Alternatives

Looking for more capable or realistic simulation options? Options can be found here.

Feel free to modify the source file and open a PR to add to this list!

Core symbols most depended-on inside this repo

setDesiredVelocity

called by 9

simulator_files/webots/controllers/crazyflie_controller_py_socket/socket_control.py

constrain

called by 7

controllers_shared/c_based/pid_controller.c

make_motor

called by 4

simulator_files/webots/controllers/crazyflie_controller_py_socket/crazyflie_controller_py_socket.py

pid_velocity_fixed_height_controller

called by 4

controllers_shared/c_based/pid_controller.c

make_sensor

called by 3

simulator_files/webots/controllers/crazyflie_controller_py_socket/crazyflie_controller_py_socket.py

pid

called by 3

controllers_shared/python_based/pid_controller.py

start

called by 2

simulator_files/webots/controllers/crazyflie_controller_py_socket/socket_control.py

pid_fixed_height_controller

called by 2

controllers_shared/c_based/pid_controller.c

Shape

Function 14

Method 8

Class 7

Languages

Python52%

C31%

C++17%

Modules by API surface

controllers_shared/c_based/pid_controller.c8 symbols

simulator_files/webots/controllers/crazyflie_controller_py_socket/socket_control.py7 symbols

controllers_shared/c_based/pid_controller.h5 symbols

simulator_files/webots/controllers/crazyflie_controller_py_socket/crazyflie_controller_py_socket.py3 symbols

controllers_shared/python_based/pid_controller.py3 symbols

simulator_files/webots/controllers/crazyflie_controller_c/crazyflie_controller.c1 symbols

crazyflie_ws/src/crazyflie_description/launch/view_crazyflie_launch.py1 symbols

crazyflie_ws/src/crazyflie_description/launch/spawn_crazyflie_gz.launch.py1 symbols

For agents

$ claude mcp add crazyflie-simulation \
  -- python -m otcore.mcp_server <graph>

⬇ download graph artifact