How can I run quads selectively?

[Abhinandan-Krishnan]

Hello,

I wanted to run quads selectively based on a pre defined condition. For example, If I have cf1, cf2, cf3 and cf4 on my testbed, I just want to takeoff cf1 and cf2. How can I do this?

Can I use groupmask somewhere here?

Thank you!

[whoenig]

See USC-ACTLab#776. I believe setting the mask itself is not implemented in Crazyswarm2, since the goal was to change the firmware to set the groupmask using a parameter instead.

[Abhinandan-Krishnan]

I am still unsure about how I can go about to do this in Crazyswarm2. Could you please elaborate?

[whoenig]

It is currently not possible.

[Eric-Ewing]

There's not a clean way to do it since groupmask currently isn't implemented, but you could do it with crazyfliesByID, which gives you a dictionary of crazyflie objects indexed by their Id (the last byte of the radio address, so if your cf1's address ends in x01, the id is 1, if it ended in x10, the Id would be 16.). It just depends on what your condition is and if hard coding which crazyflies takeoff is acceptable or not.

...
crazyflie_dict = allcfs.crazyfliesById
if condition:
    crazyflies = [crazyflie_dict[1], crazyflie_dict[2]]
else:
    crazyflies = allcfs.crazyflies

for cf in crazyflies:
    cf.takeoff(1.0, 2.0)
time_helper.sleep(2.0)
...

[Abhinandan-Krishnan]

Awesome, this should work! Thanks Eric