This Python script commands a swarm of Crazyflies to perform a coordinated spiral choreography resembling a Christmas tree outline in 3D space. Each drone takes off to a different height, flies in spiraling circular layers, and changes radius as it rises and descends, forming the visual structure of a cone when viewed from outside. Designed to be used together with the app_christmas_led.
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Connects to multiple Crazyflies simultaneously using cflib’s high-level commander.
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Assigns each drone a unique starting height, starting x position (radius), starting yaw orientation and rotation direction (CW/CCW).
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Commands the full swarm to:
- Arm and takeoff
- Move to its spiral starting position
- Fly circular and semi-circular tracks while ascending/descending
- Land
Here's how the first circle looks like:
