Added SupervisorState util #566
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enyanil
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Oct 6, 2025
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| class SupervisorState: | ||
| STATES = [ |
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Maybe replace "can be" with "ready to" (for example ready to fly)? Matches with other places and might be a bit more clear.
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I wanted the states to match the corresponding firmware ones. Changed "Auto armed" to "Is_auto_armed"
| returns the names of all states whose bits are set. | ||
| Bit 0 corresponds to states[0], Bit 1 to states[1], etc. | ||
| * Bit 0 = Can be armed - the system can be armed and will accept an arming command |
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Picky, but finish all points with a period, right now some have a period at the end and some don't.
| from cflib.crazyflie.log import LogConfig | ||
| from cflib.crazyflie.syncCrazyflie import SyncCrazyflie | ||
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Not a must but could be nice with a short explanation on how this class is intended to be used/what it is good for.
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| try: | ||
| if sup.can_be_armed(): | ||
| safety_check(sup) |
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Maybe add a print similar to: print('The Crazyflie can arm...arming!') to match the other states.
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Based on #530, there is currently no direct access to the supervisor states, making it difficult to determine whether the drone is considered landed or flying.
This PR adds a SupervisorState util that makes it easy to read the state of the Crazyflie through the supervisor.
Instead of continuously logging
supervisor.info, functions in the SupervisorState class read the value ofsupervisor.infoonly once. This is done by creating a newLogConfig, wait until the first value arrives and then stop it.Specifically:
read_supervisor_state_bitfield()returns the value ofsupervisor.info.read_supervisor_state_list()returns the list of all active states.Trueif they're active andFalseif they're not.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_control()If the users want to continuously read
supervisor.info, they can still create their log block and use thedecode_bitfield()function to turn the integer into a list with the names of all states whose bits are set.Finally, this PR also adds a simple example where we use SupervisorState to read the state of a Crazyflie and fly based on that.