Automate availability and add docs by ratheron · Pull Request #121 · learnsyslab/crazyflow

ratheron · 2026-09-18T19:52:50Z

We currently hard code what drones are available. Also, there is no way to check what models are available for which dynamics and vice-versa (will be relevant for tests once #115 is done). Implemented both.

Additionally, there is a short section in the docs on how to add your own model.

Waiting for #119 to finish this

amacati

Minor comments

amacati · 2026-09-19T14:12:59Z

 -->

-All drone configurations are bundled with `crazyflow.dynamics`. Available configurations: `cf2x_L250`, `cf2x_P250`, `cf2x_T350`, `cf21B_500`, and any drone returned by `crazyflow.available_drones`.
+All drone configurations are bundled with `crazyflow.dynamics`. Available configurations: `cf2x_L250`, `cf2x_P250`, `cf2x_T350`, `cf21B_500`, and any member of `crazyflow.Drone`.


Why are we listing four explicit models and then the generic one?

We should just say that all members of crazyflow.Drone are available and link the docs.

amacati · 2026-09-19T14:14:20Z

+    from crazyflow.dynamics import available_dynamics, supported_drones
+


Inline imports?

amacati · 2026-09-19T14:14:25Z

+    from crazyflow.drones import Drone
+    from crazyflow.dynamics import supported_dynamics
+


amacati · 2026-09-19T14:15:29Z

+`crazyflow/dynamics/<model>/params.toml` has a complete section for it; the commented example at the
+top of each file lists the keys. `supported_drones` and `supported_dynamics` report the pairs, and the
+tests only run those. Only `gravity_vec` is global, in `crazyflow/dynamics/params.toml`.


Suggested change

`crazyflow/dynamics/<model>/params.toml` has a complete section for it; the commented example at the

top of each file lists the keys. `supported_drones` and `supported_dynamics` report the pairs, and the

tests only run those. Only `gravity_vec` is global, in `crazyflow/dynamics/params.toml`.

`crazyflow/dynamics/<model>/params.toml` has a section for it. The commented example at the

top of each file lists the keys. `supported_drones` and `supported_dynamics` report the pairs, and the

tests only run those. Only `gravity_vec` is global, in `crazyflow/dynamics/params.toml`.

amacati · 2026-09-19T14:20:36Z

+
+    Raises:
+        ValueError: If ``dynamics`` is not a known model.


Suggested change

Raises:

ValueError: If ``dynamics`` is not a known model.

I think we don't have to mention that here, especially since we don't raise ourselves

amacati · 2026-09-19T14:20:48Z

+
+    Raises:
+        ValueError: If ``drone`` is not a known drone.


Suggested change

Raises:

ValueError: If ``drone`` is not a known drone.

amacati · 2026-09-19T14:34:18Z

@@ -0,0 +1,43 @@
+# Adding a drone
+
+A drone is a member of the `Drone` enum in `crazyflow/drones/__init__.py` with a matching MJCF file in `crazyflow/drones`. The package asserts on import that the two agree. A dynamics model or controller supports a drone when its own `params.toml` has a section for it, so adding a platform means adding one enum member, the MJCF file, and parameter sections.


Suggested change

A drone is a member of the `Drone` enum in `crazyflow/drones/__init__.py` with a matching MJCF file in `crazyflow/drones`. The package asserts on import that the two agree. A dynamics model or controller supports a drone when its own `params.toml` has a section for it, so adding a platform means adding one enum member, the MJCF file, and parameter sections.

A drone is a member of the `Drone` enum in `crazyflow/drones/__init__.py` with a matching MJCF file in `crazyflow/drones`. We check on import that the two agree. A dynamics model or controller supports a drone when its own `params.toml` has a section for it, so adding a platform means adding one enum member, the MJCF file, and parameter sections.

amacati · 2026-09-19T15:13:10Z

+- `first_principles` additionally needs the hardware constants: arm length, thrust and torque curves and mixing matrix. The remaining keys have to be set but not identified: `rotor_dyn_coef = [1/tau, 0.0, 1/tau, 0.0]` is a symmetric first order rotor model with time constant `tau`, a zero `drag_matrix` disables drag, and a zero `prop_inertia` drops the gyroscopic torque of the propellers.
+- The fitted `so_rpy`, `so_rpy_rotor` and `so_rpy_rotor_drag` models need identified coefficients. Use the [system identification pipeline](dynamics/system-identification.md) to obtain them from flight data.
+
+Gravity is global and lives in `crazyflow/dynamics/params.toml`. A model without a section is simply not offered for that drone. [`supported_dynamics`][crazyflow.dynamics.supported_dynamics] and [`supported_drones`][crazyflow.dynamics.supported_drones] report the available pairs, and `Sim` raises `KeyError` for any other combination.


Suggested change

Gravity is global and lives in `crazyflow/dynamics/params.toml`. A model without a section is simply not offered for that drone. [`supported_dynamics`][crazyflow.dynamics.supported_dynamics] and [`supported_drones`][crazyflow.dynamics.supported_drones] report the available pairs, and `Sim` raises `KeyError` for any other combination.

Global environment constants like `gravity` are stored in `crazyflow/dynamics/params.toml`. A model without a section is simply not offered for that drone. [`supported_dynamics`][crazyflow.dynamics.supported_dynamics] and [`supported_drones`][crazyflow.dynamics.supported_drones] report the available pairs, and `Sim` raises `KeyError` for any other combination.

amacati · 2026-09-19T15:14:18Z

+
+## 5. Run the tests
+
+The test suite parametrizes over `Drone` and over the supported drone-dynamics pairs, so the new drone is tested without any changes to the tests. In particular, `tests/integration/test_models.py` constructs a `Sim` for every supported pair, which loads the MJCF, the dynamics parameters and the controller parameters together.


Suggested change

The test suite parametrizes over `Drone` and over the supported drone-dynamics pairs, so the new drone is tested without any changes to the tests. In particular, `tests/integration/test_models.py` constructs a `Sim` for every supported pair, which loads the MJCF, the dynamics parameters and the controller parameters together.

The test suite parametrizes over `Drone` and over the supported drone-dynamics pairs, so the new drone is tested without any changes to the tests.

Automate available drones and add docs on how to add drones

2d4f39e

ratheron force-pushed the feature.availability_methods branch from 68bcac8 to 2d4f39e Compare September 19, 2026 13:06

Rename available_drones into Drone StrEnum

1cb2cbd

ratheron marked this pull request as ready for review September 19, 2026 13:55

ratheron requested a review from amacati as a code owner September 19, 2026 13:55

ratheron added 3 commits September 19, 2026 16:03

Hard code Drone enum to enable type hinting

0bd3182

Fix docstrings

41e1ea1

Fix tests

695fd9f

amacati reviewed Sep 19, 2026

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Automate availability and add docs - #121

Automate availability and add docs#121
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		from crazyflow.dynamics import available_dynamics, supported_drones

		from crazyflow.drones import Drone
		from crazyflow.dynamics import supported_dynamics

		@@ -0,0 +1,43 @@
		# Adding a drone

		A drone is a member of the `Drone` enum in `crazyflow/drones/__init__.py` with a matching MJCF file in `crazyflow/drones`. The package asserts on import that the two agree. A dynamics model or controller supports a drone when its own `params.toml` has a section for it, so adding a platform means adding one enum member, the MJCF file, and parameter sections.

	Gravity is global and lives in `crazyflow/dynamics/params.toml`. A model without a section is simply not offered for that drone. [`supported_dynamics`][crazyflow.dynamics.supported_dynamics] and [`supported_drones`][crazyflow.dynamics.supported_drones] report the available pairs, and `Sim` raises `KeyError` for any other combination.
	Global environment constants like `gravity` are stored in `crazyflow/dynamics/params.toml`. A model without a section is simply not offered for that drone. [`supported_dynamics`][crazyflow.dynamics.supported_dynamics] and [`supported_drones`][crazyflow.dynamics.supported_drones] report the available pairs, and `Sim` raises `KeyError` for any other combination.


		## 5. Run the tests

		The test suite parametrizes over `Drone` and over the supported drone-dynamics pairs, so the new drone is tested without any changes to the tests. In particular, `tests/integration/test_models.py` constructs a `Sim` for every supported pair, which loads the MJCF, the dynamics parameters and the controller parameters together.

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ratheron commented Sep 18, 2026 •

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