Colibri Code Functions

A Python library for controlling Colibri drones using the Clover framework.

Colibri Code Functions is a collaborative project developed by the Educa Drones team. It provides a simplified and intuitive interface for programming drone operations, built on top of the Clover framework for autonomous flight control.

Overview

This project abstracts complex drone control operations into easy-to-use modules, allowing developers to focus on mission logic rather than low-level flight operations. It's designed specifically for the Colibri drone line and integrates seamlessly with the Clover ecosystem.

Features

• Camera Control - Manage drone camera operations and image capture
• Servo Control - Control servo mechanisms for camera gimbal or payload manipulation
• Drone Flight Control - Execute takeoff, landing, and autonomous flight operations
• Task Management - Structure and schedule complex drone missions

Prerequisites

Before installing Colibri Code Functions, ensure you have the following:

• Python 3.7 or higher
• The Clover Framework installed and configured
• A compatible Colibri drone (optional, but highly recommend)

Note: The Clover framework is required for this library to function properly. Please install it first following the official documentation.

Installation

Install Colibri Code Functions via pip:

pip3 install colibricf

Or, for development installation from the repository:

git clone https://github.com/EDUCA-DRONES/Colibri_CF.git
cd Colibri_CF
pip3 install -e .

Quick Start

import rospy
from colibricf.task import Task

class Mission(Task):

    TAKEOFF_ALTITUDE = 1.4

    def mission(self):
        self.drone.arm()
        rospy.sleep(2)
        self.drone.navigate_wait(x=0, y=0, z=self.TAKEOFF_ALTITUDE, frame_id='body', auto_arm=True)
        # You don't need to explicitly call the land method.

Mission().run()

Project Structure

.
├── docs
│   ├── camera.md
│   ├── drone.md
│   ├── README.md
│   ├── servo.md
│   └── task.md
├── examples
│   ├── camera.py
│   ├── flight.py
│   ├── follow.py
│   └── waypoint.py
├── LICENSE
├── pyproject.toml
├── README.md
└── src
    └── colibricf
        ├── camera.py
        ├── cv
        │   ├── face_detect.py
        │   ├── follow.py
        │   ├── haar_cascade
        │   │   ├── haarcascade_eye.xml
        │   │   ├── haarcascade_fullbody.xml
        │   │   ├── haarcascade_upperbody.xml
        │   │   └── haarcascade.xml
        │   ├── __init__.py
        │   ├── models
        │   │   └── pose_landmarker_full.task
        │   ├── qrcode.py
        │   └── utils.py
        ├── drone.py
        ├── __init__.py
        ├── servo.py
        └── task.py

Documentation

• Drone Control - Flight operations and navigation
• Camera Module - Image capture and video streaming
• Servo Control - Gimbal and payload manipulation
• Task Framework - Mission planning and execution

Examples

See the example.py file for complete usage examples.

Contributing

We welcome contributions! Please feel free to submit pull requests or open issues for bugs and feature requests.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Support

For issues, questions, or contributions, please visit the GitHub repository.

For more information about the Clover framework, visit: https://clover.coex.tech/en/

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Developed by: Educa Drones