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# Flix Python library
The Flix Python library allows you to remotely connect to a Flix quadcopter. It provides access to telemetry data, supports executing CLI commands, and controlling the drone's flight.
The Flix Python library allows you to remotely connect to a Flix quadcopter. It provides access to telemetry data, supports executing console commands, and controlling the drone's flight.
To use the library, connect to the drone's Wi-Fi. To use it with the simulator, ensure the script runs on the same local network as the simulator.
To use the library, connect to the drone's Wi-Fi. To use it with the simulator, ensure the script runs on the same network as the simulator.
## Installation
@@ -24,30 +24,36 @@ pip install pyflix
The API is accessed through the `Flix` class:
```python
from flix import Flix
from pyflix import Flix
flix = Flix() # create a Flix object and wait for connection
```
If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
### Telemetry
Basic telemetry is available through object properties. The properties names generally match the corresponding variables in the firmware itself:
Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code:
```python
print(flix.connected) # True if connected to the drone
print(flix.mode) # current flight mode (str)
print(flix.armed) # True if the drone is armed
print(flix.landed) # True if the drone is landed
print(flix.voltage) # battery voltage (NaN - unknown, ~0 - USB powered)
print(flix.attitude) # attitude quaternion [w, x, y, z]
print(flix.attitude_euler) # attitude as Euler angles [roll, pitch, yaw]
print(flix.rates) # angular rates [roll_rate, pitch_rate, yaw_rate]
print(flix.channels) # raw RC channels (list)
print(flix.motors) # motors outputs (list)
print(flix.motors) # motor outputs (list)
print(flix.acc) # accelerometer output (list)
print(flix.gyro) # gyroscope output (list)
```
> [!NOTE]
> The library uses the Front-Left-Up coordinate system — the same as in the firmware. All angles are in radians.
The library uses the Front-Left-Up coordinate system — the same as the firmware:
<img src="../../docs/img/drone-axes-rotate.svg" width="300">
All angles are in radians.
### Events
@@ -89,36 +95,37 @@ Full list of events:
|-----|-----------|----------------|
|`connected`|Connected to the drone||
|`disconnected`|Connection is lost||
|`armed`|Armed state update|Armed state (*bool*)|
|`mode`|Flight mode update|Flight mode (*str*)|
|`landed`|Landed state update|Landed state (*bool*)|
|`print`|The drone sends text to the console|Text|
|`attitude`|Attitude update|Attitude quaternion (*list*)|
|`attitude_euler`|Attitude update|Euler angles (*list*)|
|`rates`|Angular rates update|Angular rates (*list*)|
|`channels`|Raw RC channels update|Raw RC channels (*list*)|
|`motors`|Motors outputs update|Motors outputs (*list*)|
|`acc`|Accelerometer update|Accelerometer output (*list*)|
|`gyro`|Gyroscope update|Gyroscope output (*list*)|
|`armed`|Armed state update|Armed state *(bool)*|
|`mode`|Flight mode update|Flight mode *(str)*|
|`landed`|Landed state update|Landed state *(bool)*|
|`voltage`|Battery voltage update|Voltage *(float)*|
|`print`|The drone prints text to the console|Text|
|`attitude`|Attitude update|Attitude quaternion *(list)*|
|`attitude_euler`|Attitude update|Euler angles *(list)*|
|`rates`|Angular rates update|Angular rates *(list)*|
|`channels`|Raw RC channels update|Raw RC channels *(list)*|
|`motors`|Motor outputs update|Motor outputs *(list)*|
|`acc`|Accelerometer update|Accelerometer output *(list)*|
|`gyro`|Gyroscope update|Gyroscope output *(list)*|
|`mavlink`|Received MAVLink message|Message object|
|`mavlink.<message_name>`|Received specific MAVLink message|Message object|
|`mavlink.<message_id>`|Received specific MAVLink message|Message object|
|`value`|Named value update (see below)|Name, value|
|`value.<name>`|Specific named value update (see bellow)|Value|
|`value.<name>`|Specific named value update (see below)|Value|
> [!NOTE]
> Update events trigger on every new data from the drone, and do not mean the value is changed.
> Update events trigger on every new piece of data from the drone, and do not mean the value has changed.
### Common methods
### Basic methods
Get and set firmware parameters using `get_param` and `set_param` methods:
```python
pitch_p = flix.get_param('PITCH_P') # get parameter value
flix.set_param('PITCH_P', 5) # set parameter value
pitch_p = flix.get_param('CTL_P_P') # get parameter value
flix.set_param('CTL_P_P', 5) # set parameter value
```
Execute CLI commands using `cli` method. This method returns command response:
Execute console commands using `cli` method. This method returns the command response:
```python
imu = flix.cli('imu') # get detailed IMU data
@@ -136,7 +143,7 @@ flix.set_armed(True) # arm the drone
flix.set_armed(False) # disarm the drone
```
You can imitate pilot's controls using `set_controls` method:
You can pass pilot's controls using `set_controls` method:
```python
flix.set_controls(roll=0, pitch=0, yaw=0, throttle=0.6)
@@ -166,10 +173,10 @@ Setting angular rates target:
flix.set_rates([0.1, 0.2, 0.3], 0.6) # set target roll rate, pitch rate, yaw rate and thrust
```
You also can control raw motors outputs directly:
You also can control raw motor outputs directly:
```python
flix.set_motors([0.5, 0.5, 0.5, 0.5]) # set motors outputs in range [0, 1]
flix.set_motors([0.5, 0.5, 0.5, 0.5]) # set motor outputs in range [0, 1]
```
In *AUTO* mode, the drone will arm automatically if the thrust is greater than zero, and disarm if thrust is zero. Therefore, to disarm the drone, set thrust to zero:
@@ -183,7 +190,7 @@ The following methods are in development and are not functional yet:
* `set_position` — set target position.
* `set_velocity` — set target velocity.
To exit from *AUTO* mode move control sticks and the drone will switch to *STAB* mode.
To exit *AUTO* mode move control sticks and the drone will switch to *STAB* mode.
## Usage alongside QGroundControl
@@ -215,6 +222,13 @@ The following scripts demonstrate how to use the library:
* [`log.py`](../log.py) — download flight logs from the drone.
* [`example.py`](../example.py) — a simple example, prints telemetry data and waits for events.
> [!TIP]
> Set `FLIX_DEVICE` environment variable to use these tools with ESP-NOW connection, for example:
>
> ```bash
> FLIX_DEVICE=/dev/cu.usbserial-0001 tools/cli.py
> ```
## Advanced usage
### MAVLink
@@ -274,7 +288,3 @@ logger = logging.getLogger('flix')
logger.setLevel(logging.DEBUG) # be more verbose
logger.setLevel(logging.WARNING) # be less verbose
```
## Stability
The library is in development stage. The API is not stable.