Crazyflies are defined in crazyflie_driver/config. Each flie gets a seperate yaml file. The format is:
Crazyflier@CF1:~/catkin_ws/src/flyingcar_ros/crazyflie_driver/config$ cat fly.yaml uri: radio://0/80/250K/0xE7E7E7E7E7 roll_trim: 0.0 pitch_trim: 0.0 tf_prefix: "fly"
Make sure the name of the file and the tf_prefix are both the name of the flie.
When using PS3 teleop, the select button will cycle between flies. Currently, it will see all flies that have been connected at any point since roscore was started. If your flie won't fly, try hitting select. If this gets annoying, kill core and restart.
To change the Crazyflie's radio address, cfclient must be used. Connect to the flie and click "Connect>Configure 2.0" to change the address. Multiple flies work better on 2M and if the addresses are spaced out. Firmware can be flashed from the client or from the command line.