Swarmkeeper

A tool for creating, configuring, and maintaining Crazyflie swarms. For some specific functionality there's also an accompanying application.

Still very much work in progress...

Components

Firmware

Out-of-tree Crazyflie firmware application providing swarm-specific functionality.

Building:

cd firmware/swarmkeeper-app
CRAZYFLIE_BASE=<path-to-crazyflie-firmare> make

Client

Rust desktop application for managing and operating Crazyflie swarms. Built with Slint for the UI and OpenGL for 3D visualization.

Features:

• Unit management -- connect to a swarm of Crazyflies, monitor status (battery, position, state), upload trajectories, and control flight (takeoff, goto, land, emergency stop)
• Radio test -- measure link quality per channel for each Crazyflie in the swarm
• 3D visualization -- real-time view of Crazyflie positions, Lighthouse base stations, and Loco anchors with labels
• Lighthouse coverage -- place base stations, configure room dimensions and offsets, and compute/visualize which areas have coverage from 0--4+ base stations. Includes receiver FOV and tilt compensation settings. Load base station geometry from Crazyflie config files
• Lighthouse wizard -- guided step-by-step calibration of Lighthouse base station geometry from measurement samples, with a built-in solver (WIP)
• TDoA3 coverage -- place Loco anchors and compute GDOP / positioning error metrics (GDOP, HDOP, VDOP, per-axis error, sensitivity) with color-mapped voxel visualization
• Planning -- combined scene editor for designing a positioning system. Place Lighthouse base stations, TDoA3 anchors, and opaque geometric obstacles (boxes, cylinders with per-object color). Computes combined LH + TDoA3 coverage with obstacle occlusion. Import scenes from the individual LH/TDoA3 tabs. Save/load planning scenes as YAML

System Dependencies (Linux):

# Ubuntu/Debian
sudo apt install libfontconfig1-dev libxcb-render0-dev libxcb-shape0-dev libxcb-xfixes0-dev libxkbcommon-dev

# Fedora
sudo dnf install fontconfig-devel libxcb-devel libxkbcommon-devel

Building:

cd client
cargo build
cargo run