From d504247d385640f79a06c41422649a2ddd924a72 Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Thu, 17 Oct 2024 17:00:24 +0200
Subject: [PATCH 01/28] Stop building universal wheels

---
 setup.cfg | 2 +-
 setup.py  | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/setup.cfg b/setup.cfg
index 3c6e79cf3..aa76baec6 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,2 +1,2 @@
 [bdist_wheel]
-universal=1
+universal=0
diff --git a/setup.py b/setup.py
index fdcd5e5a5..096f1f87e 100644
--- a/setup.py
+++ b/setup.py
@@ -30,7 +30,6 @@
         'Development Status :: 4 - Beta',
         'License :: OSI Approved :: GNU General Public License v3 (GPLv3)',
         'Topic :: System :: Hardware :: Hardware Drivers',
-        'Programming Language :: Python :: 2',
         'Programming Language :: Python :: 3'
     ],
 

From 8cec9b8d63ef34a41453314816637c94e1a06c90 Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Thu, 24 Oct 2024 11:25:11 +0200
Subject: [PATCH 02/28] Switch to pyproject.toml for package configuration

- Migrated from setup.py to pyproject.toml for better compliance with modern PEP
- Identical package metadata, dependencies, and long description in the new configuration.
- Enforce supported Python version
---
 pyproject.toml    | 55 +++++++++++++++++++++++++++++++++++++++++++++++
 setup.cfg         |  2 --
 setup.py          | 55 -----------------------------------------------
 tools/build/bdist |  2 +-
 4 files changed, 56 insertions(+), 58 deletions(-)
 create mode 100644 pyproject.toml
 delete mode 100644 setup.cfg
 delete mode 100644 setup.py

diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 000000000..486047402
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,55 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "cflib"
+version = "0.1.27"
+description = "Crazyflie Python driver"
+authors = [
+    { name = "Bitcraze and contributors", email = "contact@bitcraze.io" },
+]
+
+readme = {file = "README.md", content-type = "text/markdown"}
+license = { text = "GPLv3" }
+keywords = ["driver", "crazyflie", "quadcopter"]
+
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
+    "Topic :: System :: Hardware :: Hardware Drivers",
+
+    # Supported Python versions
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+]
+requires-python = ">= 3.10"
+
+dependencies = [
+    "pyusb>=1.0.0b2",
+    "libusb-package~=1.0",
+    "scipy~=1.7",
+    "numpy~=1.20",
+    "packaging~=24.0",
+]
+
+
+[project.urls]
+Homepage = "bitcraze.io"
+Documentation = "https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/"
+Repository = "https://github.com/bitcraze/crazyflie-lib-python"
+Issues = "https://github.com/bitcraze/crazyflie-lib-python/issues"
+
+[project.optional-dependencies]
+dev = ["pre-commit"]
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.packages]
+find = { exclude = ["examples", "test"] }
+
+[tool.setuptools.package-data]
+"cflib.resources.binaries" = ["cflib/resources/binaries/*.bin"]
diff --git a/setup.cfg b/setup.cfg
deleted file mode 100644
index aa76baec6..000000000
--- a/setup.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-[bdist_wheel]
-universal=0
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 096f1f87e..000000000
--- a/setup.py
+++ /dev/null
@@ -1,55 +0,0 @@
-#!/usr/bin/env python3
-from pathlib import Path
-
-from setuptools import find_packages
-from setuptools import setup
-# read the contents of README.md file fo use in pypi description
-directory = Path(__file__).parent
-long_description = (directory / 'README.md').read_text()
-
-package_data = {
-    'cflib.resources.binaries': ['cflib/resources/binaries/*.bin'],
-}
-
-setup(
-    name='cflib',
-    version='0.1.27',
-    packages=find_packages(exclude=['examples', 'test']),
-
-    description='Crazyflie python driver',
-    url='https://github.com/bitcraze/crazyflie-lib-python',
-
-    long_description=long_description,
-    long_description_content_type='text/markdown',
-
-    author='Bitcraze and contributors',
-    author_email='contact@bitcraze.io',
-    license='GPLv3',
-
-    classifiers=[
-        'Development Status :: 4 - Beta',
-        'License :: OSI Approved :: GNU General Public License v3 (GPLv3)',
-        'Topic :: System :: Hardware :: Hardware Drivers',
-        'Programming Language :: Python :: 3'
-    ],
-
-    keywords='driver crazyflie quadcopter',
-
-    install_requires=[
-        'pyusb>=1.0.0b2',
-        'libusb-package~=1.0',
-        'scipy~=1.7',
-        'numpy~=1.20',
-        'packaging~=24.0',
-    ],
-
-    # $ pip install -e .[dev]
-    extras_require={
-        'dev': [
-            'pre-commit'
-        ],
-    },
-
-    include_package_data=True,
-    package_data=package_data
-)
diff --git a/tools/build/bdist b/tools/build/bdist
index c0bc8dc31..40a9acd04 100755
--- a/tools/build/bdist
+++ b/tools/build/bdist
@@ -9,7 +9,7 @@ try:
     script_dir = os.path.dirname(os.path.realpath(__file__))
     root = _path.normpath(_path.join(script_dir, '../..'))
 
-    subprocess.check_call(['python3', 'setup.py', 'bdist_wheel'], cwd=root)
+    subprocess.check_call(['python3', '-m', 'build', '--wheel'], cwd=root)
 
     print('Wheel built')
 except subprocess.CalledProcessError as e:

From 1585ee7b93c87aafefce3fa8f2f06227022512a2 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 14:03:53 +0100
Subject: [PATCH 03/28] Update expected inputs in test-python-publish.yml

---
 .github/workflows/test-python-publish.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/test-python-publish.yml b/.github/workflows/test-python-publish.yml
index 444e635f2..cb9dd7fb5 100644
--- a/.github/workflows/test-python-publish.yml
+++ b/.github/workflows/test-python-publish.yml
@@ -34,6 +34,6 @@ jobs:
     - name: Publish package to TestPyPI
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        username: __token__
+        user: __token__
         password: ${{ secrets.PYPI_TEST_TOKEN }}
-        repository_url: https://test.pypi.org/legacy/
+        repository-url: https://test.pypi.org/legacy/

From 7323c09c06d07a70217110736c70c698ec453952 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 14:19:10 +0100
Subject: [PATCH 04/28] Trusted publish to test pypi

---
 .github/workflows/test-python-publish.yml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/test-python-publish.yml b/.github/workflows/test-python-publish.yml
index cb9dd7fb5..77f81444e 100644
--- a/.github/workflows/test-python-publish.yml
+++ b/.github/workflows/test-python-publish.yml
@@ -18,6 +18,11 @@ jobs:
   deploy:
 
     runs-on: ubuntu-latest
+    environment:
+      name: pypi-test
+      url: https://pypi.org/p/cflib
+    permissions:
+      id-token: write
 
     steps:
     - uses: actions/checkout@v4
@@ -34,6 +39,4 @@ jobs:
     - name: Publish package to TestPyPI
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        user: __token__
-        password: ${{ secrets.PYPI_TEST_TOKEN }}
         repository-url: https://test.pypi.org/legacy/

From 8fe7f726465c2b9413a7dcb2962e63ff7c9ed036 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 14:46:29 +0100
Subject: [PATCH 05/28] Update test-python-publish.yml

---
 .github/workflows/test-python-publish.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/test-python-publish.yml b/.github/workflows/test-python-publish.yml
index 77f81444e..947a42101 100644
--- a/.github/workflows/test-python-publish.yml
+++ b/.github/workflows/test-python-publish.yml
@@ -40,3 +40,4 @@ jobs:
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
         repository-url: https://test.pypi.org/legacy/
+        verbose: true

From efcd52dfcd094933a12c5835d05a22d9e6f76016 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 14:55:51 +0100
Subject: [PATCH 06/28] Update pyproject.toml

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 486047402..16573a991 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "cflib"
-version = "0.1.27"
+version = "0.1.27.dev0"
 description = "Crazyflie Python driver"
 authors = [
     { name = "Bitcraze and contributors", email = "contact@bitcraze.io" },

From 1319daa95713c9b44040f52584b77784a0a76a8c Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 14:58:27 +0100
Subject: [PATCH 07/28] Update homepage

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 16573a991..46dbea9e6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -37,7 +37,7 @@ dependencies = [
 
 
 [project.urls]
-Homepage = "bitcraze.io"
+Homepage = "https://www.bitcraze.io"
 Documentation = "https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/"
 Repository = "https://github.com/bitcraze/crazyflie-lib-python"
 Issues = "https://github.com/bitcraze/crazyflie-lib-python/issues"

From dc658aa611b1cadb9a8852ac3853389e3dda15a8 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 15:06:20 +0100
Subject: [PATCH 08/28] Update version to 0.1.27.1.dev0

0.1.27.dev0 is considered < 1.1.27 breaking compatibility with latest cfclient release

New version is considered pre-release of 0.1.27.1
---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 46dbea9e6..c6c3c4d37 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "cflib"
-version = "0.1.27.dev0"
+version = "0.1.27.1.dev0"
 description = "Crazyflie Python driver"
 authors = [
     { name = "Bitcraze and contributors", email = "contact@bitcraze.io" },

From 6d8d974da592b3ef7431761bff5ecb799b62c69d Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Mon, 18 Nov 2024 15:13:41 +0100
Subject: [PATCH 09/28] Trusted publish to pypi

---
 .github/workflows/python-publish.yml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/python-publish.yml b/.github/workflows/python-publish.yml
index 0dc3d068c..d5f2232b1 100644
--- a/.github/workflows/python-publish.yml
+++ b/.github/workflows/python-publish.yml
@@ -18,6 +18,11 @@ jobs:
   deploy:
 
     runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/cflib
+    permissions:
+      id-token: write
 
     steps:
     - uses: actions/checkout@v4
@@ -34,5 +39,4 @@ jobs:
     - name: Publish package
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        username: __token__
-        password: ${{ secrets.PYPI_TOKEN }}
+        verbose: true

From 608f5f0f43498366cedc8ff18e571e7c65fd5a9b Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Wed, 20 Nov 2024 11:18:14 +0100
Subject: [PATCH 10/28] Update dependencies, metadata

---
 pyproject.toml | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index c6c3c4d37..e0d5f8d00 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,9 +15,16 @@ license = { text = "GPLv3" }
 keywords = ["driver", "crazyflie", "quadcopter"]
 
 classifiers = [
-    "Development Status :: 4 - Beta",
+    "Development Status :: 5 - Production/Stable",
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
     "Topic :: System :: Hardware :: Hardware Drivers",
+    "Topic :: Scientific/Engineering :: Robotics",
+    "Intended Audience :: Science/Research",
+    "Intended Audience :: Education",
+    "Intended Audience :: Developers",
+    "Operating System :: Linux",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft :: Windows",
 
     # Supported Python versions
     "Programming Language :: Python :: 3.10",
@@ -28,14 +35,13 @@ classifiers = [
 requires-python = ">= 3.10"
 
 dependencies = [
-    "pyusb>=1.0.0b2",
+    "pyusb~=1.2",
     "libusb-package~=1.0",
-    "scipy~=1.7",
-    "numpy~=1.20",
-    "packaging~=24.0",
+    "scipy~=1.14",
+    "numpy~=1.26",
+    "packaging~=24.2",
 ]
 
-
 [project.urls]
 Homepage = "https://www.bitcraze.io"
 Documentation = "https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/"

From 52bff9ddc07d1b04c757d302ce3821b87999a2bc Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Wed, 20 Nov 2024 11:18:29 +0100
Subject: [PATCH 11/28] Include Python 3.13 installation instructions

---
 docs/installation/install.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/docs/installation/install.md b/docs/installation/install.md
index f8c696dda..a505d74e3 100644
--- a/docs/installation/install.md
+++ b/docs/installation/install.md
@@ -7,6 +7,7 @@ page_id: install
 
 This project requires Python 3.10+.
 
+To install on Python 3.13, build tools and Python development headers are required.
 
 See below sections for more platform-specific requirements.
 ## Install from Source
@@ -78,6 +79,8 @@ With linux, the crazyradio is easily recognized, but you have to setup UDEVpermi
 
 Look at the [Zadig crazyradio instructions](https://www.bitcraze.io/documentation/repository/crazyradio-firmware/master/building/usbwindows/) to install crazyradio on Windows
 
+If you're using Python 3.13, you need to install [Visual Studio](https://visualstudio.microsoft.com/downloads/). During the installation process, you only need to select the Desktop Development with C++ workload in the Visual Studio Installer.
+
 ### macOS
 If you are using python 3.12 on mac you need to install libusb using homebrew.
 ```

From 95ced817175552a9ad947eba35f4b615b1cadf4e Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Wed, 20 Nov 2024 11:25:05 +0100
Subject: [PATCH 12/28] Automatic versioning

Identical to cfclient
---
 pyproject.toml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index e0d5f8d00..6677f6f41 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,10 +1,10 @@
 [build-system]
-requires = ["setuptools>=61.0", "wheel"]
+requires = ["setuptools>=61.0", "wheel", "setuptools_scm"]
 build-backend = "setuptools.build_meta"
 
 [project]
 name = "cflib"
-version = "0.1.27.1.dev0"
+dynamic = ["version"]
 description = "Crazyflie Python driver"
 authors = [
     { name = "Bitcraze and contributors", email = "contact@bitcraze.io" },
@@ -59,3 +59,6 @@ find = { exclude = ["examples", "test"] }
 
 [tool.setuptools.package-data]
 "cflib.resources.binaries" = ["cflib/resources/binaries/*.bin"]
+
+[tool.setuptools_scm]
+version_scheme = "no-guess-dev"

From 16528967435b08d46b2b4ba0ef0806af1331590b Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Wed, 20 Nov 2024 12:01:43 +0100
Subject: [PATCH 13/28] Support auto versioning in GitHub publishing workflows

---
 .github/workflows/python-publish.yml      | 2 ++
 .github/workflows/test-python-publish.yml | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/.github/workflows/python-publish.yml b/.github/workflows/python-publish.yml
index d5f2232b1..0e197504e 100644
--- a/.github/workflows/python-publish.yml
+++ b/.github/workflows/python-publish.yml
@@ -26,6 +26,8 @@ jobs:
 
     steps:
     - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
diff --git a/.github/workflows/test-python-publish.yml b/.github/workflows/test-python-publish.yml
index 947a42101..2b4851bd3 100644
--- a/.github/workflows/test-python-publish.yml
+++ b/.github/workflows/test-python-publish.yml
@@ -26,6 +26,8 @@ jobs:
 
     steps:
     - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
     - name: Set up Python
       uses: actions/setup-python@v4
       with:

From 4fc747d76f20bd375f5027d3ffe9478b188a136a Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Wed, 20 Nov 2024 14:29:27 +0100
Subject: [PATCH 14/28] Run dependency check on all supported Python versions

---
 .github/workflows/dependency_check.yml | 45 +++++++-------------------
 1 file changed, 12 insertions(+), 33 deletions(-)

diff --git a/.github/workflows/dependency_check.yml b/.github/workflows/dependency_check.yml
index f2d09c69d..e18b680de 100644
--- a/.github/workflows/dependency_check.yml
+++ b/.github/workflows/dependency_check.yml
@@ -6,44 +6,23 @@ on:
   - cron:  '0 2 * * *'
 
 jobs:
-  python-latest:
+  python-check:
+    strategy:
+      matrix:
+        python-version: [3.10, 3.11, 3.12, 3.13]
     runs-on: ubuntu-latest
-    container:
-      image: python:latest
 
     steps:
-      - uses: actions/checkout@v4
+      - name: Checkout repository
+        uses: actions/checkout@v4
 
-      - name: python version
-        run: python --version
-
-      - name: install lib
-        run: pip install -e .
-
-  python-python311:
-    runs-on: ubuntu-latest
-    container:
-      image: python:3.11
-
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: python version
-        run: python --version
-
-      - name: install lib
-        run: pip install -e .
-
-  minimum-python310:
-    runs-on: ubuntu-latest
-    container:
-      image: python:3.10
-
-    steps:
-      - uses: actions/checkout@v4
+      - name: Setup Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
 
-      - name: python version
+      - name: Verify Python version
         run: python --version
 
-      - name: install lib
+      - name: Install library
         run: pip install -e .

From b2772f099dabb7fae5aa8e73fd6e284ab7712299 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Wed, 20 Nov 2024 14:35:11 +0100
Subject: [PATCH 15/28] Run dependency check weekly on Friday at 02:00

---
 .github/workflows/dependency_check.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/dependency_check.yml b/.github/workflows/dependency_check.yml
index e18b680de..8f9dbf3f0 100644
--- a/.github/workflows/dependency_check.yml
+++ b/.github/workflows/dependency_check.yml
@@ -3,7 +3,7 @@ name: Dependency check
 on:
   workflow_dispatch:
   schedule:
-  - cron:  '0 2 * * *'
+  - cron:  '0 2 * * 5'
 
 jobs:
   python-check:

From 840d891c7214f2616b0805b691f4293a461f20f9 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Wed, 20 Nov 2024 14:48:03 +0100
Subject: [PATCH 16/28] Introduce nightly build and test

On all supported OSes and Python versions
---
 .github/workflows/nightly.yml | 37 +++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 .github/workflows/nightly.yml

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
new file mode 100644
index 000000000..b18984b2a
--- /dev/null
+++ b/.github/workflows/nightly.yml
@@ -0,0 +1,37 @@
+# Run check and build of the lib using the Bitcraze builder docker image
+name: Nightly Build
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 2 * * *'
+
+jobs:
+  build-and-test:
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+        python-version: [3.10, 3.11, 3.12, 3.13]
+    
+    runs-on: ${{ matrix.os }}
+    
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Verify
+      run: ./tools/build/verify
+
+    - name: Test
+      run: ./tools/build/test
+
+    - name: Build
+      run: ./tools/build/build
+
+    - name: Build docs
+      run: ./tools/build-docs/build-docs

From a59ff760ee3e39c1f494454a2f5cc46f94f466c7 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Wed, 20 Nov 2024 14:50:58 +0100
Subject: [PATCH 17/28] Use self-hosted MacOS runner

---
 .github/workflows/nightly.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index b18984b2a..d26e3b8d5 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -10,7 +10,7 @@ jobs:
   build-and-test:
     strategy:
       matrix:
-        os: [ubuntu-latest, macos-latest, windows-latest]
+        os: [ubuntu-latest, lab-mac, windows-latest]
         python-version: [3.10, 3.11, 3.12, 3.13]
     
     runs-on: ${{ matrix.os }}

From e5048d46f1e66d18df8e1f9b50ec7523b1ba1714 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Wed, 20 Nov 2024 14:52:47 +0100
Subject: [PATCH 18/28] Update nightly.yml

---
 .github/workflows/nightly.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index d26e3b8d5..5fc1c9b03 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -9,6 +9,7 @@ on:
 jobs:
   build-and-test:
     strategy:
+      fail-fast: false
       matrix:
         os: [ubuntu-latest, lab-mac, windows-latest]
         python-version: [3.10, 3.11, 3.12, 3.13]

From 2866ce02e0523e7054902879abbeb5adabd0d26d Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Wed, 20 Nov 2024 15:09:08 +0100
Subject: [PATCH 19/28] Install required dependencies for nightly. Run same
 script as docker does.

---
 .github/workflows/nightly.yml | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 5fc1c9b03..3cace8d8f 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -12,10 +12,10 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, lab-mac, windows-latest]
-        python-version: [3.10, 3.11, 3.12, 3.13]
-    
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+
     runs-on: ${{ matrix.os }}
-    
+
     steps:
     - name: Checkout repo
       uses: actions/checkout@v4
@@ -25,13 +25,12 @@ jobs:
       with:
         python-version: ${{ matrix.python-version }}
 
-    - name: Verify
-      run: ./tools/build/verify
-
-    - name: Test
-      run: ./tools/build/test
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install build pre-commit
 
-    - name: Build
+    - name: Verify, test, and build
       run: ./tools/build/build
 
     - name: Build docs

From 83e78ce68d3bfd14e44435249635e99ade18ed48 Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Wed, 20 Nov 2024 15:20:55 +0100
Subject: [PATCH 20/28] First build to fetch dependencies

---
 .github/workflows/nightly.yml | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 3cace8d8f..4b2ef6be9 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -30,8 +30,14 @@ jobs:
         python -m pip install --upgrade pip
         pip install build pre-commit
 
-    - name: Verify, test, and build
-      run: ./tools/build/build
+    - name: Build
+      run: ./tools/build/bdist
+
+    - name: Test
+      run: ./tools/build/test
+
+    - name: Verify
+      run: ./tools/build/verify
 
     - name: Build docs
       run: ./tools/build-docs/build-docs

From c1e97cfa868150c46f047b8872d61a344e1c6bc6 Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Thu, 21 Nov 2024 10:01:43 +0100
Subject: [PATCH 21/28] Nightly: build wheel, pip install it. First run
 pre-commit checks. Build docs once.

---
 .github/workflows/nightly.yml | 36 +++++++++++++++++++++++++----------
 1 file changed, 26 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 4b2ef6be9..5dc87a18d 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -27,17 +27,33 @@ jobs:
 
     - name: Install dependencies
       run: |
-        python -m pip install --upgrade pip
-        pip install build pre-commit
+        python3 -m pip install --upgrade pip build setuptools
+        python3 -m pip install pre-commit
 
-    - name: Build
-      run: ./tools/build/bdist
+    - name: Code quality checks
+      run: pre-commit run --all-files
 
-    - name: Test
-      run: ./tools/build/test
+    - name: Build wheel
+      run: python3 -m build --wheel
+
+    - name: Install wheel
+      run: pip install ./dist/*.whl
 
-    - name: Verify
-      run: ./tools/build/verify
+    - name: Test
+      run: python3 -m unittest discover test/
 
-    - name: Build docs
-      run: ./tools/build-docs/build-docs
+  build-docs:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip
+          python3 -m pip install pdoc3
+      - name: Build docs
+        run: ./tools/build-docs/build-docs

From bdffcc869da41b1fa60178aa6f27cd6069531521 Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Thu, 21 Nov 2024 10:21:07 +0100
Subject: [PATCH 22/28] Install setuptools, yaml for generating docs

---
 .github/workflows/nightly.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 5dc87a18d..7e90600e6 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -53,7 +53,7 @@ jobs:
           python-version: '3.x'
       - name: Install dependencies
         run: |
-          python3 -m pip install --upgrade pip
-          python3 -m pip install pdoc3
+          python3 -m pip install --upgrade pip setuptools
+          python3 -m pip install pdoc3 pyyaml
       - name: Build docs
         run: ./tools/build-docs/build-docs

From 5d0ccc783cf37ed1ceac9eff73b21469dfe84f38 Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Thu, 21 Nov 2024 10:21:24 +0100
Subject: [PATCH 23/28] Find wheel on Windows

---
 .github/workflows/nightly.yml | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 7e90600e6..fca136120 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -36,8 +36,22 @@ jobs:
     - name: Build wheel
       run: python3 -m build --wheel
 
-    - name: Install wheel
-      run: pip install ./dist/*.whl
+    - name: Install the built wheel
+      run: |
+        # Find the built wheel
+        WHEEL_FILE=$(ls dist/*.whl | head -n 1)
+        echo "Installing wheel: $WHEEL_FILE"
+        pip install "$WHEEL_FILE"
+      shell: bash
+      if: runner.os != 'Windows'
+
+    - name: Install the built wheel (Windows)
+      run: |
+        for /f %%i in ('dir /b dist\*.whl') do set WHEEL_FILE=dist\%%i
+        echo Installing wheel: %WHEEL_FILE%
+        pip install %WHEEL_FILE%
+      shell: cmd
+      if: runner.os == 'Windows'
 
     - name: Test
       run: python3 -m unittest discover test/

From 14cf8b55b6fddfbeb3324533d7f824b43fe08a1f Mon Sep 17 00:00:00 2001
From: Rik Bouwmeester <rikjbouwmeester@gmail.com>
Date: Thu, 21 Nov 2024 11:30:19 +0100
Subject: [PATCH 24/28] Use Brew Python on MacOs

---
 .github/workflows/nightly.yml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index fca136120..95dde3c57 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -21,10 +21,18 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Set up Python ${{ matrix.python-version }}
+      if: runner.os == 'Linux' || runner.os == 'Windows'
       uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.python-version }}
 
+    - name: Set up Python ${{ matrix.python-version }} and venv on macOS
+      if: runner.os == 'macOS'
+      run: |
+        brew install python@${{ matrix.python-version }}
+        $(brew --prefix)/bin/python${{ matrix.python-version }} -m venv venv
+        echo "PATH=$(pwd)/venv/bin:$PATH" >> $GITHUB_ENV
+
     - name: Install dependencies
       run: |
         python3 -m pip install --upgrade pip build setuptools

From ec74aa48c4006fedee637fc9c612d66c829f282f Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Thu, 21 Nov 2024 15:29:13 +0100
Subject: [PATCH 25/28] Use Visual Studio for compiling wheels

---
 .github/workflows/nightly.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 95dde3c57..cf3ba9f9c 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -33,6 +33,12 @@ jobs:
         $(brew --prefix)/bin/python${{ matrix.python-version }} -m venv venv
         echo "PATH=$(pwd)/venv/bin:$PATH" >> $GITHUB_ENV
 
+    - name: Set up MSVC environment (Windows)
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64
+      if: runner.os == 'Windows'
+
     - name: Install dependencies
       run: |
         python3 -m pip install --upgrade pip build setuptools

From 02cfb058e6c5dddeb036280cd4a8fc646e5b29ae Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Fri, 22 Nov 2024 11:31:54 +0100
Subject: [PATCH 26/28] Update dependency_check.yml

---
 .github/workflows/dependency_check.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/dependency_check.yml b/.github/workflows/dependency_check.yml
index 8f9dbf3f0..89d693aa1 100644
--- a/.github/workflows/dependency_check.yml
+++ b/.github/workflows/dependency_check.yml
@@ -9,7 +9,7 @@ jobs:
   python-check:
     strategy:
       matrix:
-        python-version: [3.10, 3.11, 3.12, 3.13]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
     runs-on: ubuntu-latest
 
     steps:

From 580903f56c87161da810e102276d2451bb6748f7 Mon Sep 17 00:00:00 2001
From: Rik <49898887+gemenerik@users.noreply.github.com>
Date: Fri, 22 Nov 2024 11:33:47 +0100
Subject: [PATCH 27/28] Remove now redundant dependency check

This dependency check is now redundant with the nightly build
---
 .github/workflows/dependency_check.yml | 28 --------------------------
 1 file changed, 28 deletions(-)
 delete mode 100644 .github/workflows/dependency_check.yml

diff --git a/.github/workflows/dependency_check.yml b/.github/workflows/dependency_check.yml
deleted file mode 100644
index 89d693aa1..000000000
--- a/.github/workflows/dependency_check.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-name: Dependency check
-
-on:
-  workflow_dispatch:
-  schedule:
-  - cron:  '0 2 * * 5'
-
-jobs:
-  python-check:
-    strategy:
-      matrix:
-        python-version: ["3.10", "3.11", "3.12", "3.13"]
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Setup Python
-        uses: actions/setup-python@v4
-        with:
-          python-version: ${{ matrix.python-version }}
-
-      - name: Verify Python version
-        run: python --version
-
-      - name: Install library
-        run: pip install -e .

From 1d4c5e83a225d7f46956b25bf69899ebd8849b72 Mon Sep 17 00:00:00 2001
From: Arnaud Taffanel <arnaud@bitcraze.io>
Date: Thu, 28 Nov 2024 11:11:18 +0100
Subject: [PATCH 28/28] Remove deprecated call to setDaemon

---
 cflib/crazyflie/__init__.py | 2 +-
 cflib/crazyflie/param.py    | 4 ++--
 cflib/crtp/radiodriver.py   | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/cflib/crazyflie/__init__.py b/cflib/crazyflie/__init__.py
index cb9a0eed4..06f5e2e6d 100644
--- a/cflib/crazyflie/__init__.py
+++ b/cflib/crazyflie/__init__.py
@@ -109,7 +109,7 @@ def __init__(self, link=None, ro_cache=None, rw_cache=None):
                                    rw_cache=rw_cache)
 
         self.incoming = _IncomingPacketHandler(self)
-        self.incoming.setDaemon(True)
+        self.incoming.daemon = True
         if self.link:
             self.incoming.start()
 
diff --git a/cflib/crazyflie/param.py b/cflib/crazyflie/param.py
index 1dc199e8f..25ea37a0b 100644
--- a/cflib/crazyflie/param.py
+++ b/cflib/crazyflie/param.py
@@ -520,7 +520,7 @@ class _ExtendedTypeFetcher(Thread):
 
     def __init__(self, cf, toc):
         Thread.__init__(self)
-        self.setDaemon(True)
+        self.daemon = True
         self._lock = Lock()
 
         self._cf = cf
@@ -599,7 +599,7 @@ class _ParamUpdater(Thread):
     def __init__(self, cf, useV2, updated_callback):
         """Initialize the thread"""
         Thread.__init__(self)
-        self.setDaemon(True)
+        self.daemon = True
         self.wait_lock = Lock()
         self.cf = cf
         self._useV2 = useV2
diff --git a/cflib/crtp/radiodriver.py b/cflib/crtp/radiodriver.py
index 7d22b6c52..2d805f7c1 100644
--- a/cflib/crtp/radiodriver.py
+++ b/cflib/crtp/radiodriver.py
@@ -156,7 +156,7 @@ def __init__(self, devid: int):
 
         self._lock = Semaphore(1)
 
-        self.setDaemon(True)
+        self.daemon = True
 
         self.start()