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This was referenced Feb 5, 2026
…equivalents Move send_emergency_stop() and send_emergency_stop_watchdog() to the Supervisor class using the CRTP supervisor channel. Deprecate the Localization versions with a backwards-compatible fallback to the old localization channel for firmware below protocol version 12.
All public methods now warn and bail early if the connected Crazyflie reports a protocol version < 12, which is required for the supervisor port.
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Added CRTP protocol version guards to the supervisor subsystem. All public methods now warn and bail early if the connected firmware doesn't report protocol version ≥ 12. Honestly the versioning story in this Python lib has been a bit of a mess (most subsystems have no guards at all). The Rust rewrite will have a much stricter versioning contract so this kind of ambiguity won't carry over. |
gemenerik
approved these changes
Feb 24, 2026
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This PR fixes #530 and should be merged after the firmware PR #1560 is merged. It adds a supervisor subsystem for reading the supervisor states.
Specifically:
read_bitfield()returns the full bitfield value.read_state_list()returns a list of all active states.can_be_armed,is_armed,is_auto_armed,can_fly,is_flying,is_tumbled,is_locked,is_crashed,active_hl_control,finished_hl_traj,disabled_hl_controlEvery time we want to read a state, the entire bitfield is fetched. To avoid sending CRTP packets too frequently, the bitfield is cached for 0.1 seconds.
Also, 2 simple examples are added; 1 for reading the supervisor states and 1 for flying using the state information.
Update:
The supervisor commands (
send_arming_requestandsend_recovery_request) are also moved fromplatformservice.pytosupervisor.py. The user can still use the old commands (e.g.scf.cf.platform.send_arming_request(True)) but they'll get a deprecation warning.