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Thanks for your reply. I have solved my problem related programming. After starting each Cf2 by a thread, I should use While loop (pass) in the end of the main loop.

Just change the address fit to your modified address of your Cf2

I am an beginner of researching into Crazyflies. I am doing the Formation Control, it means controlling multi-crazyflie with consensus, which is really different to the examples of swarm. In this topic, I need to send the commander_setpoint (roll, pitch, yaw, thrust) to each Cf2. if the new command ...