The Crazyflie 2.0 is an open-source quadcopter with 2 micro controllers developed by Bitcraze: The NRF51 Cortex-M0 Chip handles radio communication and power management. The STM32F405 Cortex-M4@160MHz Chip manages flight control, sensor and telemetry data, motor control as well as additional user development. Crazyflie 2.0 supports Bluetooth LE as well as 2.4GHz 20dBm radio control.
In this paragraph you will find a list of the Crazyflie’s hardware specifications.
These specifications match the developer’s data, a full list can be found here.
Size (WxHxD): 92x92x29mm (motor-to-motor and including motor mount feet)
20 dBm radio amplifier tested to > 1 km range LOS with Crazyradio PA
Bluetooth Low Energy support with iOS and Android clients available (tested on iOS 7.1+ and Android 4.4+)
Radio backwards compatible with original Crazyflie and Crazyradio
STM32F405 main application MCU (Cortex-M4, 168MHz, 192kb SRAM, 1Mb flash)
nRF51822 radio and power management MCU (Cortex-M0, 32Mhz, 16kb SRAM, 128kb flash)
3 axis gyro (MPU-9250)
3 axis accelerometer (MPU-9250)
3 axis magnetometer (MPU-9250)
High precision pressure sensor (LPS25H)
Flight time with stock battery: 7 minutes
Charging time with stock battery: 40 minutes
Max recommended payload weight: 15 g
Basic functionality and features
Price: Quadcopter: 195 EUR, Crazyradio 32,50 EUR
Crazyflie 2.0 is an open source hardware project. If you decide to start developing with the Crazyflie 2.0, you have access to all hard and software specifications, source code for the client application as well as mobile apps. Additional expansion boards like the Z-ranger deck or an led ring expand the Crazyflie’s range of functions even further. A prototyping board enables development of individual hardware components, for example attaching a small camera, for the quadcopter. Crazyradio is a 2.4 GHz radio dongle that enables radio communication between the Crazyflie 2.0 and the Crazyflie Client within a range of up to 1 kilometer.
Programming, IDE and codebase
Programming the Crazyflie can be done by using the developer’s virtual machine Bitcraze VM: https://wiki.bitcraze.io/projects:virtualmachine:index. This virtual machine gives you all necessary tools to start developing alternative code for the Crazyflie. Alternatively one could decide to install the tools and clients natively on Windows, macOS and Linux.
Crazyflie firmware is written in C
The official host-side lib, as well as the Crazyflie client are written in Python
The complete codebase (firmware. Client, mobile apps) is hosted at Github and is accessible to the public. There are also comprehensive, practically relevant examples of the Crazyflie.
Documentation, Tutorials and Forum
The Crazyflie’s documentation can be found in Bitcraze’s wiki
Tutorials and “How to get started” introductions can also be found in the wiki. Furthermore there is a forum with an active community, as well as Bitcraze’s developers that are willing to help with any kind of problem. The forum can be considered as a useful place whenever one runs into problems while developing with the Crazyflie.
Summary: Advantages for “Arbeitskreis Smart-Machines”
Open source hard- and software: Not bound to proprietary interfaces/programs/licenses -> Valuable insights into source code of the quadcopter. There is even the possibility to 3D-print spare parts.
Wide range of useful material (Tutorials, Wiki, Forum) to getting started with development
Promotes collaborations between students across locations (Kaiserslautern, Pirmasens, Zweibrücken): a robust pick & place application requires expert knowledge from computer science, as well as logistics.