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Python library to communicate with Crazyflie

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cflib: Crazyflie python library CI

cflib is an API written in Python that is used to communicate with the Crazyflie and Crazyflie 2.0 quadcopters. It is intended to be used by client software to communicate with and control a Crazyflie quadcopter. For instance the cfclient Crazyflie PC client uses the cflib.

See below for platform specific instruction. For more info see our documentation.


Developing for the cfclient

Note: If you are developing for the cfclient you must use python3. On Ubuntu (16.04, 18.08) use

instead of

Linux, OSX, Windows

The following should be executed in the root of the crazyflie-lib-python file tree.


This section contains a very short description of how to use virtualenv (local python environment) with package dependencies. If you don't want to use virualenv and don't mind installing cflib dependencies system-wide you can skip this section.

  • Install virtualenv:
    pip install virtualenv
  • create an environment:
    virtualenv venv
  • Activate the environment:

    source venv/bin/activate
  • To deactivate the virtualenv when you are done using it


Note: For systems that support make, you can use

make venv
to create an environment, activate it and install dependencies.

Install cflib dependencies

Install dependencies required by the lib:

pip install -r requirements.txt

To verify the installation, connect the crazyflie and run an example:

python examples/basiclog


With docker and the toolbelt

For information and installation of the toolbelt.

  • Check to see if you pass tests:
    tb test
  • Check to see if you pass style guidelines:
    tb verify

Note: Docker and the toolbelt is an optional way of running tests and reduces the work needed to maintain your python environment.

Native python on Linux, OSX, Windows

Tox is used for native testing:

pip install tox
* If test fails after installing tox with
pip install tox
, installing with
sudo apt-get install tox
result a successful test run
  • Test package in python3.4
    TOXENV=py34 tox
  • Test package in python3.6
    TOXENV=py36 tox

Note: You must have the specific python versions on your machine or tests will fail. (ie. without specifying the TOXENV,

runs tests for python 3.3, 3.4 and would require all python versions to be installed on the machine.)

Platform notes


Setting udev permissions

The following steps make it possible to use the USB Radio without being root.

sudo groupadd plugdev
sudo usermod -a -G plugdev $USER

You will need to log out and log in again in order to be a member of the plugdev group.

Create a file named

and add the following: ```

Crazyradio (normal operation)

SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"


SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="0101", MODE="0664", GROUP="plugdev" ```

To connect Crazyflie 2.0 via usb, create a file name

and add the following:
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"

You can reload the udev-rules using the following:

sudo udevadm control --reload-rules
sudo udevadm trigger


Everyone is encouraged to contribute to the CrazyFlie library by forking the Github repository and making a pull request or opening an issue.

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