Add broadcasting

[knmcguire]

Crazyflie-link-cpp can do swarm broadcasting, so why not the link on the cflib!

This is a missing functionality in Crazyswarm2 that blocks the cflib from being a drop in replacement for the cpp backend: IMRCLab/crazyswarm2#423

[NageshEranki]

Hi, this is an enhancement I'm really interested in and would like to see cflib support broadcasting. I'd love to contribute but could really benefit from some pointers.

EDIT 1: I found this old Bitcraze forum thread that was quite informative. I can confirm that the example python script works. Is that post still a good starting point for development?

Thanks

[ArisMorgens]

Hello Nagesh!

It is so nice to hear that you are interested in contributing!
Swarm broadcasting is indeed not supported by the cflib and is only implemented in the firmware.

Our most recent use of broadcasting was for the decentralized brushless swarm demo. For that, we used a "hacky" solution where a non-flying Crazyflie is responsible to broadcast to all others.
You can find the source code for the demo in our crazyflie-firmware-experimental repository.
Let us know if you need any further help.