0.16.0

This release is mostly about swarms. cfcli can now store lists of Crazyflies,
run commands on all of them at once, and share swarms and lighthouse
configurations with the people you fly with.

New features

• Swarms — a swarm is a named list of Crazyflies, each with a short name,
  stored in the same YAML format as
  Swarmkeeper so a file can move
  between the two. swarm config manages them (list, select, create,
  delete, show, name, add, remove, rename, import, export,
  move), swarm scan shows which Crazyflies answer, and
  select --from-swarm CF-02 selects one of them for all the other commands.
  See docs/swarm.md.

  $ cfcli swarm config import ~/Documents/Swarmkeeper/swarms/lab.yaml
  Imported swarm 'lab' from …/lab.yaml (3 Crazyflies), 3 URIs now use radio:/// (any Crazyradio)
  Selected swarm 'lab' (3 Crazyflies)
  $ cfcli swarm scan
  CF    | URI                       | Radio | Online
  ------+---------------------------+-------+--------
  CF-01 | radio:///80/2M/E7E7E7E701 | 1     | yes
  CF-02 | radio:///90/2M/ABAD1DEA01 | 0     | yes
  CF-03 | radio:///90/2M/ABAD1DEA02 | 0     | yes
  3 of 3 Crazyflies answered
  

  swarm config add takes URIs, --scan, or --from-usb (the one
  USB-attached Crazyflie), and asks for a name when a single Crazyflie is added.
  Swarm IDs and Crazyflie names complete in bash, zsh and PowerShell.

• Any Crazyradio: radio:/// — a URI with the radio left empty means "any
  Crazyradio". A single Crazyflie gets the first Crazyradio that can be opened,
  so cfcli keeps working while another program holds radio 0. A swarm is spread
  over all attached Crazyradios, and Crazyflies on the same channel, or on
  channels less than 2 apart, always share one, so two radios never transmit on
  the same channel. radio://0/ is rewritten to radio:/// when Crazyflies are
  imported or added to a swarm; other radio indices are kept.

• Commands on a whole swarm — these run on every Crazyflie in the selected
  swarm, or on the ones picked with --cf, --exclude or --swarm:

  Command
  swarm platform info | reboot | power-off | sleep | wakeup
  swarm param get | set | store | clear	without names, the parameters are picked from the first Crazyflie
  swarm log print	streaming, or one row per Crazyflie with --once
  swarm deck list, swarm debug assert
  swarm bootload info | flash	see below
  swarm rechannel	see below
  swarm lh check | write	see below

  Listings look like the normal ones with a CF column in front, and --csv
  rows start with cf,uri. A Crazyflie that fails doesn't stop the others; its
  error goes to stderr with its name in front. The exit code is 0 when all
  succeed, the usual code when all fail the same way (10 when none answer), and
  the new 50 otherwise.

  $ cfcli swarm platform info
  CF    | Platform                | Firmware    | CRTP protocol
  ------+-------------------------+-------------+---------------
  CF-BS | Crazyflie 2.1 Brushless | 2026.08 +84 | 13
  CF-01 | Crazyflie 2.1 Brushless | 2026.08     | 12
  CF-02 | Crazyflie 2.1 Brushless | 2026.08     | 12
  

  Each Crazyradio talks to up to 8 Crazyflies at a time, and log and parameter
  TOCs are downloaded once per firmware instead of once per Crazyflie (3.2 s
  cold and 0.6 s warm for swarm platform info on 3 Crazyflies).

• Flashing a swarm — swarm bootload flash takes the same --release,
  --zip, --bin and --targets as bootload flash and flashes the
  Crazyflies one after another, with a summary table at the end. A release is
  downloaded for each platform in the swarm, and everything is prepared before
  the first Crazyflie is touched, so a wrong --zip stops the command instead of
  failing halfway. STM32 and nRF51 images given with --bin are only flashed
  when all the Crazyflies have the same platform; --platform flashes one
  platform at a time in a mixed swarm.

  swarm bootload info shows the bootloader versions of each Crazyflie and
  restarts it back into its firmware. Its Broadcast column tells whether both
  bootloaders support broadcast flashing (bootloader protocol 0x11), which is in
  preparation; this release flashes one Crazyflie at a time.

• Spreading a swarm over several channels — Crazyflies on one channel share
  one Crazyradio, so a swarm on a single channel can only use one.
  swarm rechannel --count 3 (channels 80, 78 and 76) or
  --channels 80,76,72 gives each channel an equal share, keeps Crazyflies
  that are already on one of the channels where they are, and refuses a plan
  that would put two Crazyflies with the same address on one channel. The plan
  is shown and confirmed first (--dry-run stops there, --yes skips the
  question). Each Crazyflie that moves is reprogrammed, rebooted and found on
  its new channel before its URI in the swarm file changes, so running the
  command again after an interruption finishes the job.

• Sharing swarms and lighthouse configurations — auth login signs cfcli in
  to a server through the browser, with nothing to copy (auth status,
  auth logout). Signed in, swarms on the server sit next to the local ones as
  <organization>/<swarm>, and every swarm command takes either kind of ID.
  swarm config move lab org/lab shares a local swarm, and moving it back takes
  it back. The default server is https://arc.bitcraze.io; --server signs in to
  another one. See docs/auth.md.

    | ID                | Name        | Crazyflies | Stored
  --+-------------------+-------------+------------+----------------------------
  * | lab               | Lab         | 3          | this computer
    | bitcraze-lab/cage | Flight cage | 8          | arc.bitcraze.io, revision 3
  

  With sync on (settings sync on, the default), commands check the server
  first and upload changes right away, and a change someone else made in between
  is kept. With sync off, pull and push sync by hand. Without the server,
  commands work on this computer's copies and upload the changes later, so
  working with the Crazyflies never waits for the network. When you change your
  ID for an organization on the server, cfcli moves its copies and the selected
  swarm to the new ID.

• Stored lighthouse configurations — lighthouse configurations can be stored
  like swarms, locally as <config> or shared as <org>/<config>:
  lh config list, save (the Crazyflie's configuration), import, export
  (a file the Crazyflie client opens), name, delete, move, pull and
  push. display, write and check take a stored configuration, a file
  (-i) or YAML on stdin. See docs/lighthouse.md.

  A swarm can name the configuration it flies in (swarm config lh).
  swarm lh check compares every Crazyflie with it, and swarm lh write writes
  it to the Crazyflies that don't have it yet and reads it back:

  $ cfcli swarm lh check
  Lighthouse config 'lab/cage' (revision 3): base stations 0, 1, 2, 3
  CF    | Lighthouse
  ------+------------------------------------------
  CF-01 | up to date
  CF-02 | BS 2 moved 4.1 cm, turned 0.62°
  CF-03 | no position for BS 0, 1, 2, 3
  Error: differs: 2 of 3 Crazyflies have another lighthouse configuration; 'cfcli swarm lh write' gives them this one
  

• Comparing lighthouse configurations — lh config check compares the
  Crazyflie's configuration with a file or a stored one, per base station: how
  far the geometry moved and turned, and whether the calibration belongs to
  another base station. A difference exits with the new code 60, so a
  script can act on it. --csv is supported.

  BS | Geometry             | Calibration
  ---+----------------------+-------------------------------------------------------------------------
  0  | not on the Crazyflie | other base station: 0x00BC614E in the file, 0xE8781C12 on the Crazyflie
  1  | -                    | same
  

• One log sample — log print --once reads one sample, prints it as a table
  and stops; --csv gives the header and the first row. See
  docs/logging.md.

• Radio URIs of USB-attached Crazyflies — scan --from-usb reads the radio
  configuration of every USB-attached Crazyflie and prints its radio URI,
  without selecting it the way select --from-usb does:

  $ cfcli scan --from-usb
  > radio://0/90/2M/ABAD1DEA01 (usb://410050000551343036333233)
  

• Restarting the STM32 into USB DFU — platform dfu restarts the STM32 into
  its ROM bootloader over the radio, without holding the power button, and
  waits for it to show up on USB (0483:df11). platform reboot brings it back.
  This needs nRF51 firmware with
  crazyflie2-nrf-firmware#126,
  which is not in a firmware release yet. See docs/platform.md.

• GAP8 as a flash target — the AI-deck's GAP8 (bcAI:gap8-fw) can now be
  flashed.

Bug fixes

• bootload info shows the real bootloader protocol version — the version
  was read from the byte that echoes the command, so every bootloader reported
  Protocol Version: 16 (0x10). It is now read from the right byte (0 for
  bootloaders from before it existed), and the CPU ID is shown in full instead
  of its first 2 bytes.

• Entering the bootloader no longer hangs — the warm boot behind
  bootload flash and bootload info asked the firmware for its bootloader
  once, and could wait forever if that request or its answer was lost. It now
  asks again every 200 ms and gives up with an error after 2 s.

• The AI-deck boot delay is applied when flashing decks — the AI-deck was
  never detected, so the delay it needs to boot between deck flashes was
  skipped. It is now detected from the deck's 1-wire memory, the same way the
  nRF51 firmware does.

• Lighthouse configuration files open in the Crazyflie client —
  lh config read saved files as version: '2', which cflib refuses. Files are
  now written as version: '1' (the format is the same), and files written by
  earlier versions are still read.
  (#34)

Improvements

• Streamed log samples are printed as a table — log print printed each
  sample as LogData { timestamp: …, data: {…} }, with the variables in a
  different order on every line. It now prints a header once and a row per
  sample, with the Crazyflie's time and the values in the order they were asked
  for. Floats get 3 decimals and are right-aligned so the columns don't jump;
  --csv is unchanged and keeps full precision.

  $ cfcli --timeout 1500 log print acc.x,pm.state,motor.m1,stateEstimate.az -p 200
   Time (ms) |    acc.x | pm.state | motor.m1 | stateEstimate.az
  -----------+----------+----------+----------+------------------
    13947058 |   -0.012 |        2 |        0 |           -0.002
    13947258 |   -0.012 |        2 |        0 |            0.001
  

• A protocol version mismatch now says how to recover — firmware too old
  for this cfcli can't be asked to reboot into its bootloader over a link that
  won't come up, so the error is now followed by a hint to flash it cold:

  Error: connection error: connecting to usb://4A002B0007504B5957333720: Protocol version not supported: supported range is 12-13, found 7
  Hint: the firmware is too old for this cfcli. It cannot be asked to reboot into
        its bootloader over a link that will not come up, so flash it cold:
  
          cfcli bootload flash --release --cold
  
        Power the Crazyflie off, then hold the power button for a few seconds
        until the blue LEDs blink to enter the bootloader before flashing.
  

  Firmware newer than the CLI gets the opposite advice: update cfcli. The exit
  code is unchanged at 10.

• Lighthouse configuration files are checked before connecting — the type,
  the version and the base station IDs and values are checked first. Only
  Lighthouse V2 base stations are supported, so a file with systemType: 1 is
  refused. cfcli reads the number of base stations the firmware supports (4 by
  default, up to 16) from the lighthouse memory, and refuses to write IDs the
  firmware doesn't have before writing anything. Base stations are written in ID
  order, so reading the same configuration twice gives the same file.

• Updated dependencies — including zip 9 and base64 0.23. No change in
  behaviour.

Changes that can affect scripts

• log print prints a table instead of one LogData { … } line per sample.
  Scripts should use --csv, which is unchanged.
• select --from-usb no longer prints the Read radio config: … line; the
  Selected: line after it has the same information.
• bootload info reports the real bootloader protocol version instead of
  always 16.
• New exit codes: 50 when a swarm command fails on some of the Crazyflies,
  and 60 when lh config check or swarm lh check finds differences.
• An unknown --platform for bootload flash --cold exits 30 (invalid
  value) instead of 1.