Basic swarm operations

Function	Description
takeOffAll	All drones take off simultaneously
landAll	All drones land in the current position
returnToHome	All drones return to their initial formation coordinates
returnAndLand	All drones return to their initial formation coordinates and land there
applyFormation	Applies the selected formation or operation
plotPreview	Open a window with a preview of the selected formation or operation

Swarm.takeOffAll(z=1)

• Parameters:

  • z: int or float Set the height of the swarm

• Result: All drones takeoff at the same time and go up to the selected height.

Swarm.landAll()

• Parameters:

  • None

• Result: All the armed clovers go down to the floor in their current position and disarm themselves.

Swarm.returnToHome()

• Parameters:

  • None

• Result: All the drones return to the initial formation they started operating.

Swarm.returnAndLand()

• Parameters:

  • None

• Result: Very similar to the returnToHome function, but the drones also land and disarm.

Swarm.applyFormation(speed=1, tolerance=0.2, wait=True)

• Parameters:

  • speed: int or float, optional Set the speed of the drones' movement

  • tolerance: int or float, optional Set the tolerance of the navigateWait function

  • wait: bool, optional While 'True' uses the navigateWait module and the drones will wait for the conclusion of previous operations before applying the current desired formation

• Result: Applies the previously selected formation or operation and the clovers start to move in order to form it.

All the operations involved in this section already apply the formation for the user, but all the more complex functions must be followed by the applyFormation command or the desired coordinates will not be executed.

Swarm.plotPreview(plot_type='2D')

• Parameters:

  • plot_type: string Defines if the plot will be '2D' or '3D'

• Result:

  • A Swarm Preview window will appear on the screen showing how the drones are or where they will go after applying the formation. It will also allow accessing the movement history of the drones.

It's highly recommended to use the plotPreview feature before applying the formations in simulation or real life, to make sure that the expected behavior will confirm.