LiteWing Quick Reference

A simple lookup table of every function and property you'll use.

🔌 Connection

Function	What it does	When to use
`drone = LiteWing("192.168.43.42")`	Create a drone controller	Always - first line of every script
`drone.connect()`	Connect to the drone, start sensor data	Before reading sensors or flying
`drone.disconnect()`	Disconnect safely	End of every script

Example:

drone = LiteWing("192.168.43.42")
drone.connect()
print(f"Battery: {drone.battery:.2f}V")
drone.disconnect()

🛫 Flight Commands

Function	What it does	When to use
`drone.arm()`	Prepare drone for flight	After `connect()`, before `takeoff()`
`drone.takeoff(height, duration)`	Take off and hover (blocking)	After `arm()`
`drone.change_height(delta, min_h, max_h)`	Change hover height safely	During flight
`drone.hover(seconds)`	Hover in place for N seconds	Between maneuvers
`drone.land(duration)`	Descend and stop motors	When done flying
`drone.emergency_stop()`	Kill all motors immediately	Emergency only! Drone will fall

Typical flow:

drone.connect()
drone.arm()
drone.takeoff(0.3, 0.1)     # drone lifts off 30cm within 0.1s duration
drone.hover(5)              # hover for 5 seconds
drone.land()                # come back down
drone.disconnect()

See: level_2/02_basic_flight.py

📋 Status Properties

Property	Type	What it tells you
`drone.is_connected`	`bool`	Connected to drone?
`drone.is_flying`	`bool`	Currently in flight?
`drone.flight_phase`	`str`	Current state: `IDLE`, `TAKEOFF`, `HOVERING`, `LANDING`, etc.

⚡ Safety Keys

Key	Action	Effect
`Ctrl+C`	Emergency stop	Immediately cuts all motors - drone falls
`Space`	Safe landing	Triggers `drone.land()` - controlled descent

💡 LED Control

Function	What it does	When to use
`drone.set_led_color(r, g, b)`	Set all LEDs to a color	Visual status (green=go, red=stop)
`drone.set_led(index, r, g, b)`	Set one LED (0-3) to a color	Individual LED patterns
`drone.blink_leds(on_ms, off_ms)`	Blink LEDs	Warnings, attention
`drone.clear_leds()`	Turn off all LEDs	When done

The drone has 4 LEDs numbered 0-3. Colors use RGB values 0-255:

# All LEDs same color
drone.set_led_color(255, 0, 0)    # All red
drone.set_led_color(0, 255, 0)    # All green

# Individual LEDs
drone.set_led(0, 255, 0, 0)      # LED 0 = red
drone.set_led(1, 0, 255, 0)      # LED 1 = green
drone.set_led(2, 0, 0, 255)      # LED 2 = blue
drone.set_led(3, 255, 255, 0)    # LED 3 = yellow

See: level_2/01_led_control.py

🏃 Movement Commands

All movement commands are blocking - they return when the drone arrives.

Function	What it does	When to use
`drone.pitch_forward(distance, speed)`	Pitch forward	push the drone forward by distance, speed in m/s
`drone.pitch_backward(distance, speed)`	Pitch backward	same as forward
`drone.roll_left(distance, speed)`	Roll left	same
`drone.roll_right(distance, speed)`	Roll right	same
`drone.rotate_left(degrees, speed)`	Rotate left (counter-clockwise)	Rotate the drone by degrees
`drone.rotate_right(degrees, speed)`	Rotate right (clockwise)	Rotate the drone by degrees

distance defaults to 0.5m (= drone.maneuver_distance)
speed defaults to 0.2 m/s (= max velocity setpoint)

Example:

drone.arm()
drone.takeoff(0.3, 0.1)
drone.hover(1)
drone.pitch_forward(0.3)               # 30cm forward at 0.2 m/s
drone.pitch_forward(0.3, speed=0.7)    # same distance, faster
drone.roll_right(0.3)                  # 30cm to the right
drone.land()

See: level_3/02_movement_commands.py

🗺️ Waypoint Navigation

Function	What it does	When to use
`drone.fly_to(x, y, z=None, yaw=None, speed=None, threshold=None)`	Fly to 3D position with optional rotation	Navigate to a specific coordinate/heading
`drone.fly_path(waypoints, speed=None, threshold=None)`	Fly through flexible waypoints: `(x,y)`, `(x,y,z)`, or `(x,y,z,yaw)`	Fly a custom 3D shape or route

Coordinate system (from drone's starting point):

+X = forward, -X = backward
+Y = left, -Y = right

Example:

drone.arm()
drone.takeoff(0.3, 0.1)
drone.hover(1)
# Fly a triangle
drone.fly_to(0.3, 0.0)       # forward
drone.fly_to(0.0, -0.3)      # right
drone.fly_to(0.0, 0.0)       # back to start
drone.land()

# Or use fly_path for a square
drone.arm()
drone.takeoff(0.3, 0.1)
drone.hover(1)
drone.fly_path([
    (0.3, 0.0),  # Pitch Forward
    (0.3, -0.3), # Roll Right
    (0.0, -0.3), # Pitch Backward
    (0.0, 0.0),  # Roll Right (orgin)
], speed=0.3)
drone.land()
drone.disconnect()

See: level_3/03_waypoint_navigation.py

⭐ Shape Flight

Function	What it does	When to use
`drone.square(length, duration, face_direction)`	Fly a square path	Geometric patterns
`drone.triangle(length, duration, face_direction)`	Fly an equilateral triangle	Geometric patterns
`drone.circle(diameter, duration, face_direction)`	Fly a smooth circle	Smooth circular arcs
`drone.pentagon(length, duration, face_direction)`	Fly a regular pentagon	Geometric patterns

face_direction=True (default): drone nose faces direction of travel
face_direction=False: drone keeps its initial heading
All shapes reset position to origin before starting

Example:

drone.square(length=0.6, duration=10, face_direction=True)  # 60cm square in 10s
drone.circle(diameter=1.0, duration=8, face_direction=True) # 1m diameter circle in 8s
drone.triangle(length=0.5, duration=8, face_direction=False)  # fixed heading

See: level_3/05_shape_flight.py

📡 Sensor Reading

Property	Returns	What it tells you
`drone.battery`	`float` (volts)	Battery voltage (3.0V = empty, 4.2V = full)
`drone.height`	`float` (meters)	How high the drone is
`drone.position`	`(x, y)` tuple	Estimated position from launch point
`drone.velocity`	`(vx, vy)` tuple	How fast the drone is moving
`drone.read_sensors()`	`SensorData` object	All sensor data in one snapshot
`sensors.roll`	`float` (degrees)	Tilt left/right
`sensors.pitch`	`float` (degrees)	Tilt forward/back
`sensors.yaw`	`float` (degrees)	Rotation heading
`sensors.acc_x/y/z`	`float` (g)	Acceleration on each axis
`sensors.gyro_x/y/z`	`float` (deg/s)	Angular rate on each axis

Example:

print(f"Battery: {drone.battery:.2f}V")
print(f"Height:  {drone.height:.2f}m")
print(f"Position: {drone.position}")

sensors = drone.read_sensors()
print(f"Roll: {sensors.roll:.1f}°  Pitch: {sensors.pitch:.1f}°  Yaw: {sensors.yaw:.1f}°")

📊 Data Logging

Function	What it does	When to use
`drone.start_logging("filename.csv")`	Start recording flight data	Before `arm()`
`drone.stop_logging()`	Stop recording, close CSV	After `land()`

Logged columns: Timestamp, Position X/Y, Height, Velocity X/Y, PID Corrections

See: level_2/04_data_logging.py

📈 Live Visualization (GUI)

Function	What it shows	When to use
`drone.start_dashboard()`	4-panel: height, attitude, velocity, battery	Full flight monitoring
`drone.start_height_plot()`	Filtered + raw height	Height sensor testing
`drone.start_imu_plot()`	Roll, pitch, yaw angles	IMU testing
`drone.start_position_plot()`	2D XY position trail	Position hold testing
`drone.stop_plot()`	Stops the background plot	When visualization is done

Requires matplotlib. Runs in the background (non-blocking) so your flight code continues.

# Setup plot before takeoff
plot = drone.start_dashboard()

drone.arm()
drone.takeoff()
# ... fly ...
drone.land()

# Stop when done
drone.stop_plot()

See: level_1/with_gui/ examples

🎮 Manual (Keyboard) Control

Function	What it does	When to use
`drone.start_manual_control()`	Full automated flight with WASD QERF control: connect → takeoff → keyboard loop → land	Interactive flight sessions
`drone.stop_manual_control()`	Land and end manual mode	Programmatic stop (or press SPACE/Ctrl+C)

Controls: W=Forward, S=Backward, A=Left, D=Right, Q=Rotate Left E=Rotate Right R=Up F=Down SPACE=Land

Manual Control Settings

Property	Default	What it does
`drone.sensitivity`	`0.2`	Speed per key press (m/s)
`drone.hold_mode`	`"current"`	`"current"` = stay put, `"origin"` = snap back

See: level_3/04_keyboard_control.py

🕹️ Raw Control (Without LiteWing Flight Positioning Module)

Function	What it does	When to use
`drone.send_control(roll, pitch, yawrate, thrust)`	Send raw motor commands directly	Sensorless flight, testing motors

roll / pitch: tilt angles in degrees (−30 to +30)
yawrate: spin rate in deg/s (−200 to +200)
thrust: motor power (0–33500, ~28000 = hover)

⚠️ Start thrust low (~15000) and increase slowly. Use emergency_stop() if needed.

drone.connect()
drone.send_control(thrust=0)    # Must send a zero-thrust setpoint first to unlock the commander
time.sleep(0.5)
drone.send_control(thrust=28500)     # gentle lift
time.sleep(2)
drone.disconnect()

⚙️ Tunable Parameters

Flight Settings

Property	Default	What to change it for
`drone.target_height`	`0.3`	Fly higher or lower
`drone.default_takeoff_duration`	`0.1`	How long the takeoff takes (seconds)
`drone.default_landing_duration`	`2.0`	How long the landing takes (seconds)
`drone.default_flight_speed`	`0.7`	Default speed for `fly_to()` (m/s)
`drone.max_flight_speed`	`2`	Safety clamp for flight speed (m/s)
`drone.maneuver_distance`	`0.5`	Default move distance
`drone.max_correction`	`0.7`	Speed cap for PID corrections
`drone.descent_rate`	`0.25`	Landing descent speed (m/s)
`drone.debug_mode`	`False`	Set `True` to test without motors
`drone.enable_sensor_check`	`True`	Set `False` to skip ToF/flow check on `arm()`

PID Tuning

Property	Default	Effect of increasing
`drone.position_pid.kp`	`1.0`	Stronger push toward target
`drone.position_pid.ki`	`0.03`	Corrects persistent drift
`drone.position_pid.kd`	`0.0`	Dampens oscillation
`drone.velocity_pid.kp`	`0.7`	More speed damping
`drone.velocity_pid.ki`	`0.01`	Corrects velocity bias
`drone.velocity_pid.kd`	`0.0`	Smooths rapid changes

See: level_2/03_tuning_config.py

Drift Correction

Property	Default	What it does
`drone.hover_trim_pitch`	`0.0`	Forward/backward drift correction (hover mode). Positive = nudge forward.
`drone.hover_trim_roll`	`0.0`	Left/right drift correction (hover mode). Positive = nudge right.
`drone.raw_trim_roll`	`0.0`	Roll trim for raw control mode (degrees).
`drone.raw_trim_pitch`	`0.0`	Pitch trim for raw control mode (degrees).

Firmware (Height Controller)

Property	Default	What it does
`drone.thrust_base`	`24000`	Base motor power (increase if heavy)
`drone.z_position_kp`	`1.6`	Height correction strength
`drone.z_velocity_kp`	`15.0`	Vertical speed damping
`drone.apply_firmware_params()`	-	Send these values to the drone

Raw Control Safety

Property	Default	What it does
`drone.max_thrust`	`35000`	Safety cap for `send_control()` thrust
`drone.raw_trim_roll`	`0.0`	Roll trim for raw control (degrees)
`drone.raw_trim_pitch`	`0.0`	Pitch trim for raw control (degrees)

Navigation Menu

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LiteWing Quick Reference

🔌 Connection

🛫 Flight Commands

📋 Status Properties

⚡ Safety Keys

💡 LED Control

🏃 Movement Commands

🗺️ Waypoint Navigation

⭐ Shape Flight

📡 Sensor Reading

📊 Data Logging

📈 Live Visualization (GUI)

🎮 Manual (Keyboard) Control

Manual Control Settings

🕹️ Raw Control (Without LiteWing Flight Positioning Module)

⚙️ Tunable Parameters

Flight Settings

PID Tuning

Drift Correction

Firmware (Height Controller)

Raw Control Safety

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LiteWing Quick Reference

🔌 Connection

🛫 Flight Commands

📋 Status Properties

⚡ Safety Keys

💡 LED Control

🏃 Movement Commands

🗺️ Waypoint Navigation

⭐ Shape Flight

📡 Sensor Reading

📊 Data Logging

📈 Live Visualization (GUI)

🎮 Manual (Keyboard) Control

Manual Control Settings

🕹️ Raw Control (Without LiteWing Flight Positioning Module)

⚙️ Tunable Parameters

Flight Settings

PID Tuning

Drift Correction

Firmware (Height Controller)

Raw Control Safety