Difference between revisions of "Crazyflie 2.0"

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<gallery>
<gallery>
Crazyflie2_01.jpg|Crazyflie 2.0
Crazyflie2_01.jpg|Crazyflie 2.1
</gallery>
</gallery>
The Crazyflie 2.0 is nice little open source quadcopter. Yes it runs Paparazzi to. It is a Work In Progress, together we get there. Expect it soon to apear in Paparazzi master. We first need some testflights,indeed.
The Crazyflie 2.1 is nice little open source quadcopter. Yes it runs Paparazzi too. We had some testflights but we need more testflights, indeed.  


=Features=
=Features=


* Easy to assemble and no soldering required
* Easy to assemble and no soldering required
* WIP: Wireless firmware updates
* WIP: Wireless firmware updates (not yet)
* On-board charging via standard uUSB
* On-board charging via standard uUSB
* Dual-MCU architecture with dedicated radio/power management SoC for advanced applications
* Dual-MCU architecture with dedicated radio/power management SoC for advanced applications
* All the Real-time logging, graphing and variable setting as one is used to with Paparazzi
* All the Real-time logging, graphing and variable setting as one is used to with Paparazzi


=Mechanical specifications=
=Specifications=


* Weight: 27g
* Weight: 27g
* Size (WxHxD): 92x92x29mm (motor-to-motor and including motor mount feet)
* Size: 92x92x29mm
 
* Radio: BL 20 dBm nRF5182
=Radio specifications=
* Bluetooth LE support
 
* 20 dBm radio amplifier
* Bluetooth Low Energy support


=Microcontrollers=
=Microcontrollers=
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* nRF51822 radio and power management MCU (Cortex-M0, 32Mhz, 16kb SRAM, 128kb flash)
* nRF51822 radio and power management MCU (Cortex-M0, 32Mhz, 16kb SRAM, 128kb flash)
* uUSB connector
* uUSB connector
* On-board LiPo charger with 100mA, 500mA and 980mA modes available
* On-board LiPo charger
* Full speed USB device interface
* Full speed USB device interface
* 8KB EEPROM
* 8KB EEPROM
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* 3 axis accelerometer (MPU-9250)
* 3 axis accelerometer (MPU-9250)
* 3 axis magnetometer (MPU-9250)
* 3 axis magnetometer (MPU-9250)
* high precision pressure sensor (LPS25H)
* High precision pressure sensor (LPS25H)


=Flight specifications=
=Flight specifications=


* Maximum payload weight: ~10 g
* Maximum payload weight: ~10 g
=Motors=
There are four 7x16mm Coreless DC-motors icw default props that give a maximum take-off weight of ~40g
==Mechanical specification==
* Diameter: 7.0 mm
* Length: 16.0 mm
* Shaft length: 3.5 mm
* Shaft diameter: 0.8 mm
* Weight: 2.7 g
* Wire length: 32.0 mm
==Electrical specification==
* Kv: 14 000 rpm/V
* Rated voltage: 4.2 V
* Rated current: 1000mA


=Expansion connectors=
=Expansion connectors=
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=Flashing=
=Flashing=


For now flashing is via an USB cable in the DFU mode. Press and hold the Reset button while insering the USB into your PC. Then Clcik UPload in Paparazzi Center
==Flashing via DFU==
 
Howto set the Crazyflie in the DFU update mode:
 
# Connect the USB cable to your Crazyflie 2.1 but not to your PC just yet...
# Unplug the Crazyflie 2.1 battery if it is plugged in
# Keep pressing the on/off button while inserting the USB cable in your PC
# Hold down the button for about 5 seconds until if starts to blink faster second blink rate (1Hz), then release the on/off button
# The Crazyflie 2.1 can now receive your new firmware... Click "Upload" in Paparazzi Centre
 
==Flashing via BlackMagicProbe==
 
For this you need a BMP and a 10 pin adaptor board.
 
==Over Air==
 
Over the air updates via the nordic chip are not yet possible, feel free to help us out and make it happen.


=Debugging=
=Debugging=


With e.g. great BlackMagicProbe JTAG adapter development can be smoother than without.
With the BlackMagicProbe JTAG adapter development can be smoother than without. A worthy investment if you value speed development.


=Extra=
=Extra=
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==Add GNSS==
==Add GNSS==


A light GPS
A light GPS can be added to e.g. the I2C bus, for example the uBlox CAM-M8Q
 
==Add Magnetometer==
 
The previous iteration had an magnetometer, well now you best add one over I2C bus


==Wifi==
==Wifi==


One can add one of thos small ESP based Wifi modules described here
One can add one of those [https://github.com/paparazzi/esp8266_udp_firmware small EP8266 based Wifi modules described here] to have telemetry via WiFi in a simple way


=Links=
=Links=
Links with al sorts of no PPRZ information that my come in handy:
* https://wiki.bitcraze.io/projects:crazyflie2:index
* https://github.com/bitcraze/crazyflie-firmware/tree/crazyflie2
* https://wiki.bitcraze.io/projects:crazyflie:hardware:explained

Latest revision as of 09:41, 5 November 2020

About

The Crazyflie 2.1 is nice little open source quadcopter. Yes it runs Paparazzi too. We had some testflights but we need more testflights, indeed.

Features

  • Easy to assemble and no soldering required
  • WIP: Wireless firmware updates (not yet)
  • On-board charging via standard uUSB
  • Dual-MCU architecture with dedicated radio/power management SoC for advanced applications
  • All the Real-time logging, graphing and variable setting as one is used to with Paparazzi

Specifications

  • Weight: 27g
  • Size: 92x92x29mm
  • Radio: BL 20 dBm nRF5182
  • Bluetooth LE support

Microcontrollers

  • STM32F405 main application MCU (Cortex-M4, 168MHz, 192kb SRAM, 1Mb flash)
  • nRF51822 radio and power management MCU (Cortex-M0, 32Mhz, 16kb SRAM, 128kb flash)
  • uUSB connector
  • On-board LiPo charger
  • Full speed USB device interface
  • 8KB EEPROM

IMU

  • 3 axis gyro (MPU-9250)
  • 3 axis accelerometer (MPU-9250)
  • 3 axis magnetometer (MPU-9250)
  • High precision pressure sensor (LPS25H)

Flight specifications

  • Maximum payload weight: ~10 g

Motors

There are four 7x16mm Coreless DC-motors icw default props that give a maximum take-off weight of ~40g

Mechanical specification

  • Diameter: 7.0 mm
  • Length: 16.0 mm
  • Shaft length: 3.5 mm
  • Shaft diameter: 0.8 mm
  • Weight: 2.7 g
  • Wire length: 32.0 mm

Electrical specification

  • Kv: 14 000 rpm/V
  • Rated voltage: 4.2 V
  • Rated current: 1000mA

Expansion connectors

  • VCC (3.0V, max 100mA)
  • GND
  • VCOM (unregulated VBAT or VUSB, max 1A)
  • VUSB (both for input and output)
  • I2C (400kHz)
  • SPI
  • 2 x UART
  • 4 x GPIO/CS for SPI
  • 1-wire bus for expansion identification
  • 2 x GPIO connected to nRF51

Airframe

Flashing

Flashing via DFU

Howto set the Crazyflie in the DFU update mode:

  1. Connect the USB cable to your Crazyflie 2.1 but not to your PC just yet...
  2. Unplug the Crazyflie 2.1 battery if it is plugged in
  3. Keep pressing the on/off button while inserting the USB cable in your PC
  4. Hold down the button for about 5 seconds until if starts to blink faster second blink rate (1Hz), then release the on/off button
  5. The Crazyflie 2.1 can now receive your new firmware... Click "Upload" in Paparazzi Centre

Flashing via BlackMagicProbe

For this you need a BMP and a 10 pin adaptor board.

Over Air

Over the air updates via the nordic chip are not yet possible, feel free to help us out and make it happen.

Debugging

With the BlackMagicProbe JTAG adapter development can be smoother than without. A worthy investment if you value speed development.

Extra

Add GNSS

A light GPS can be added to e.g. the I2C bus, for example the uBlox CAM-M8Q

Add Magnetometer

The previous iteration had an magnetometer, well now you best add one over I2C bus

Wifi

One can add one of those small EP8266 based Wifi modules described here to have telemetry via WiFi in a simple way

Links

Links with al sorts of no PPRZ information that my come in handy: