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

Install (Linux, x86_64 and arm64):

curl -fsSL https://evoggy.github.io/packages/apt/evoggy.gpg.key \
  | sudo gpg --dearmor -o /usr/share/keyrings/evoggy-archive-keyring.gpg
echo "deb [arch=amd64,arm64 signed-by=/usr/share/keyrings/evoggy-archive-keyring.gpg] https://evoggy.github.io/packages/apt stable main" \
  | sudo tee /etc/apt/sources.list.d/evoggy.list
sudo apt update && sudo apt install swarmkeeper

The package adds Swarmkeeper to the application menu and installs the udev rules for the Crazyradio. Started that way, swarms, scenes, plans, log configs, journals and recordings are kept in ~/Documents/Swarmkeeper; run from client/ in a checkout, they stay in the checkout as before.

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