The Crazyflie is a tiny quadcopter often refereed to as a nano-quad, built using the PCB itself as the frame. Developed solely by open source tools and designed with development in mind. E.g. we choose 0603 components (resistors & caps) over 0402 to make it easier to replace components. The voltage regulators are adjustable which makes it possible to change the digital an analog supply voltages simply by changing a couple of resistors.

Features

• Small and lightweight, around 19g and about 90mm motor to motor
• Flight time up to 7 minutes with standard 170mAh Li-Po battery
• Standard micro-USB connector for charging which takes ~20min for the stock 170mAh Li-Po battery
• On-board low-energy radio@1mW based on the nRF24L01+ chip. Up to 80m range (environment dependent) when using the Crazyradio USB dongle
• Radio bootloader which enabled wireless update of the firmware
• Powerful 32 bit MCU: STM32F103CB @ 72 MHz (128kb flash, 20kb RAM)
• 3-axis high-performance MEMs gyros with 3-axis accelerometer: Invensense MPU-6050
• Available footprints to manually solder magnetometer HMC5883L/HMC5983 or/and barometer MS5611 (Mounted on the 10-DOF version)
• Expansion header 2×10 pins 1.27mm (0.05”) pitch including power, I2C/UART, SPI/ADC. Header also contains ARM Cortex 10-pin JTAG (header not included)
• 4-layer low noise PCB design with separate voltage regulators for digital and analog supply

• User Guide/Introduction: Short user guide that introduces some basic concepts
• Crazyflie assembly: Instructions on how to assemble the Crazyflie kit
• Binary distributions: Download links for the binary distribution of the PC client, Crazyradio Windows driver and the Crazyflie PC Client
• GUI Application: Userguide for the Graphical user interface
• Installation: Install instructions for PC side software
• Input devices: What input devices are supported and how do you get them working
• Tips and tricks: Tips and tricks for flying
• Troubleshooting : How to find and fix problems
• FAQ: A list of frequently asked questions and the answers to them
• Repairing : How to repair mechanical problems
• Bitcraze Virtual Machine : Information about how to download and use the Virtual Machine

• Wishlist and expansion ideas: Our and other peoples wishlists, project ideas and possible expansions
• How to contribute to the project

• Application dev. guide: Development guide for the PC side applications/library
• Crazyflie Python Library: Documentation for the Python library used to communicate with the Crazyflie

• Development Environment: Setting up the compiler installing libs and fixing permissions for JTAG/radio dongles.
• Overall firmware architecture
• Communication protocol

• Crazyflie KIT electronics explained
• Crazyflie hacks and mods
• Crazyflie schematics
• Spare components and where to order them

• List of expansion boards
• Reference design: KiCad files for schematic and layout reference design