Updated arming requests in all examples

ArisMorgens · ArisMorgens · commit a07813e19835 · 2026-03-17T16:45:03.000+01:00
diff --git a/docs/user-guides/sbs_motion_commander.md b/docs/user-guides/sbs_motion_commander.md
@@ -139,7 +139,7 @@ So now we are going to start up the SyncCrazyflie and start a function in the `_
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         take_off_simple(scf)
@@ -230,7 +230,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         take_off_simple(scf)
@@ -323,7 +323,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         move_linear_simple(scf)
@@ -436,7 +436,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         logconf.start()
@@ -553,7 +553,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         logconf.start()
@@ -684,7 +684,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         logconf.start()
diff --git a/examples/aideck/fpv.py b/examples/aideck/fpv.py
@@ -185,7 +185,7 @@ def __init__(self, URI):
             self._imgDownload.start()
 
             # Arm the Crazyflie
-            self.cf.platform.send_arming_request(True)
+            self.cf.supervisor.send_arming_request(True)
             time.sleep(1.0)
 
             self.hover = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'height': 0.3}
diff --git a/examples/autonomy/autonomous_sequence.py b/examples/autonomy/autonomous_sequence.py
@@ -92,7 +92,7 @@ def run_sequence(scf, sequence):
     cf = scf.cf
 
     # Arm the Crazyflie
-    cf.platform.send_arming_request(True)
+    cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     take_off(cf, sequence[0])
diff --git a/examples/autonomy/autonomous_sequence_high_level.py b/examples/autonomy/autonomous_sequence_high_level.py
@@ -92,7 +92,7 @@ def run_sequence(cf, trajectory_id, duration, relative_yaw=False):
     commander = cf.high_level_commander
 
     # Arm the Crazyflie
-    cf.platform.send_arming_request(True)
+    cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     takeoff_yaw = 3.14 / 2 if relative_yaw else 0.0
diff --git a/examples/autonomy/autonomous_sequence_high_level_compressed.py b/examples/autonomy/autonomous_sequence_high_level_compressed.py
@@ -88,7 +88,7 @@ def run_sequence(cf, trajectory_id, duration):
     commander = cf.high_level_commander
 
     # Arm the Crazyflie
-    cf.platform.send_arming_request(True)
+    cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     commander.takeoff(1.0, 2.0)
diff --git a/examples/autonomy/circling_square_demo.py b/examples/autonomy/circling_square_demo.py
@@ -112,7 +112,7 @@ def turn_off_leds(scf):
 
 def run_sequence(scf, alpha, r):
     # Arm the Crazyflie
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     commander = scf.cf.high_level_commander
diff --git a/examples/autonomy/full_state_setpoint_demo.py b/examples/autonomy/full_state_setpoint_demo.py
@@ -84,7 +84,7 @@ def run_sequence(scf):
     # cf.param.set_value('stabilizer.controller', '2')
 
     # Arm the Crazyflie
-    cf.platform.send_arming_request(True)
+    cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     print('takeoff')
diff --git a/examples/autonomy/motion_commander_demo.py b/examples/autonomy/motion_commander_demo.py
@@ -53,7 +53,7 @@
 
     with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         # We take off when the commander is created
diff --git a/examples/autonomy/position_commander_demo.py b/examples/autonomy/position_commander_demo.py
@@ -44,7 +44,7 @@
 def slightly_more_complex_usage():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         with PositionHlCommander(
@@ -74,7 +74,7 @@ def slightly_more_complex_usage():
 def land_on_elevated_surface():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         with PositionHlCommander(scf,
@@ -91,7 +91,7 @@ def land_on_elevated_surface():
 def simple_sequence():
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         with PositionHlCommander(scf, controller=PositionHlCommander.CONTROLLER_PID) as pc:
diff --git a/examples/lighthouse/lighthouse_openvr_grab.py b/examples/lighthouse/lighthouse_openvr_grab.py
@@ -123,7 +123,7 @@ def run_sequence(scf):
         reset_estimator(scf)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         run_sequence(scf)
diff --git a/examples/lighthouse/lighthouse_openvr_grab_color.py b/examples/lighthouse/lighthouse_openvr_grab_color.py
@@ -155,7 +155,7 @@ def run_sequence(scf):
         # start_position_printing(scf)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         run_sequence(scf)
diff --git a/examples/lighthouse/lighthouse_openvr_multigrab.py b/examples/lighthouse/lighthouse_openvr_multigrab.py
@@ -151,8 +151,8 @@ def run_sequence(scf0, scf1):
             reset_estimator(scf1)
 
             # Arm the Crazyflies
-            scf0.cf.platform.send_arming_request(True)
-            scf1.cf.platform.send_arming_request(True)
+            scf0.cf.supervisor.send_arming_request(True)
+            scf1.cf.supervisor.send_arming_request(True)
             time.sleep(1.0)
 
             run_sequence(scf0, scf1)
diff --git a/examples/mocap/mocap_hl_commander.py b/examples/mocap/mocap_hl_commander.py
@@ -184,7 +184,7 @@ def run_sequence(cf, trajectory_id, duration):
         reset_estimator(cf)
 
         # Arm the Crazyflie
-        cf.platform.send_arming_request(True)
+        cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         run_sequence(cf, trajectory_id, duration)
diff --git a/examples/mocap/mocap_swarm.py b/examples/mocap/mocap_swarm.py
@@ -94,7 +94,7 @@ def activate_kalman_estimator(scf: SyncCrazyflie):
 
 
 def arm(scf: SyncCrazyflie):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
diff --git a/examples/mocap/mocap_swarm_multi_commander.py b/examples/mocap/mocap_swarm_multi_commander.py
@@ -96,7 +96,7 @@ def activate_kalman_estimator(scf: SyncCrazyflie):
 
 def run_sequence(scf: SyncCrazyflie):
     print('This is: ', scf._link_uri)
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     # .takeoff() is automatic when entering the "with PositionHlCommander" context
diff --git a/examples/mocap/qualisys_hl_commander.py b/examples/mocap/qualisys_hl_commander.py
@@ -250,7 +250,7 @@ def run_sequence(cf, trajectory_id, duration):
         reset_estimator(cf)
 
         # Arm the Crazyflie
-        cf.platform.send_arming_request(True)
+        cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         run_sequence(cf, trajectory_id, duration)
diff --git a/examples/motors/multiramp.py b/examples/motors/multiramp.py
@@ -60,7 +60,7 @@ def _connected(self, link_uri):
         has been connected and the TOCs have been downloaded."""
 
         # Arm the Crazyflie
-        self._cf.platform.send_arming_request(True)
+        self._cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         # Start a separate thread to do the motor test.
diff --git a/examples/motors/ramp.py b/examples/motors/ramp.py
@@ -60,7 +60,7 @@ def _connected(self, link_uri):
         has been connected and the TOCs have been downloaded."""
 
         # Arm the Crazyflie
-        self._cf.platform.send_arming_request(True)
+        self._cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
     def _connection_failed(self, link_uri, msg):
diff --git a/examples/multiranger/multiranger_pointcloud.py b/examples/multiranger/multiranger_pointcloud.py
@@ -113,7 +113,7 @@ def __init__(self, URI):
         self.cf.open_link(URI)
 
         # Arm the Crazyflie
-        self.cf.platform.send_arming_request(True)
+        self.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         self.hover = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'height': 0.3}
diff --git a/examples/multiranger/multiranger_push.py b/examples/multiranger/multiranger_push.py
@@ -75,7 +75,7 @@ def is_close(range):
     cf = Crazyflie(rw_cache='./cache')
     with SyncCrazyflie(URI, cf=cf) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         with MotionCommander(scf) as motion_commander:
diff --git a/examples/multiranger/multiranger_wall_following.py b/examples/multiranger/multiranger_wall_following.py
@@ -83,7 +83,7 @@ def handle_range_measurement(range):
     cf = Crazyflie(rw_cache='./cache')
     with SyncCrazyflie(URI, cf=cf) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         with MotionCommander(scf) as motion_commander:
diff --git a/examples/positioning/flowsequence_sync.py b/examples/positioning/flowsequence_sync.py
@@ -54,7 +54,7 @@
         time.sleep(1)
 
         # Arm the Crazyflie
-        cf.platform.send_arming_request(True)
+        cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         for y in range(10):
diff --git a/examples/positioning/initial_position.py b/examples/positioning/initial_position.py
@@ -68,7 +68,7 @@ def run_sequence(scf, sequence, base_x, base_y, base_z, yaw):
     cf = scf.cf
 
     # Arm the Crazyflie
-    cf.platform.send_arming_request(True)
+    cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     for position in sequence:
diff --git a/examples/positioning/matrix_light_printer.py b/examples/positioning/matrix_light_printer.py
@@ -111,7 +111,7 @@ def matrix_print(cf, pc, image_def):
 
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         with PositionHlCommander(scf, default_height=0.5, controller=PositionHlCommander.CONTROLLER_PID) as pc:
diff --git a/examples/step-by-step/sbs_motion_commander.py b/examples/step-by-step/sbs_motion_commander.py
@@ -125,7 +125,7 @@ def param_deck_flow(_, value_str):
             sys.exit(1)
 
         # Arm the Crazyflie
-        scf.cf.platform.send_arming_request(True)
+        scf.cf.supervisor.send_arming_request(True)
         time.sleep(1.0)
 
         logconf.start()
diff --git a/examples/step-by-step/sbs_swarm.py b/examples/step-by-step/sbs_swarm.py
@@ -45,7 +45,7 @@ def light_check(scf: SyncCrazyflie):
 
 
 def arm(scf: SyncCrazyflie):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
diff --git a/examples/swarm/asynchronized_swarm.py b/examples/swarm/asynchronized_swarm.py
@@ -69,7 +69,7 @@ def wait_for_param_download(scf):
 
 
 def arm(scf):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
diff --git a/examples/swarm/hl_commander_swarm.py b/examples/swarm/hl_commander_swarm.py
@@ -45,7 +45,7 @@ def activate_mellinger_controller(scf, use_mellinger):
 
 
 def arm(scf):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
diff --git a/examples/swarm/leader_follower.py b/examples/swarm/leader_follower.py
@@ -81,7 +81,7 @@ def wait_for_param_download(scf):
 
 
 def arm(scf):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
diff --git a/examples/swarm/swarm_sequence.py b/examples/swarm/swarm_sequence.py
@@ -173,7 +173,7 @@ def wait_for_param_download(scf):
 
 
 def arm(scf):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
diff --git a/examples/swarm/swarm_sequence_circle.py b/examples/swarm/swarm_sequence_circle.py
@@ -89,7 +89,7 @@ def run_sequence(scf, params):
     cf = scf.cf
 
     # Arm the Crazyflie
-    cf.platform.send_arming_request(True)
+    cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
     # Number of setpoints sent per second
diff --git a/examples/swarm/synchronized_sequence.py b/examples/swarm/synchronized_sequence.py
@@ -112,7 +112,7 @@ def activate_mellinger_controller(scf, use_mellinger):
 
 
 def arm(scf):
-    scf.cf.platform.send_arming_request(True)
+    scf.cf.supervisor.send_arming_request(True)
     time.sleep(1.0)
 
 
