Crazyflie 2.0

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Revision as of 01:52, 25 April 2018 by Openuas (talk | contribs) (→‎Motors)
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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.


  • Easy to assemble and no soldering required
  • WIP: Wireless firmware updates
  • 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


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


  • 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


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

Flight specifications

  • Maximum payload weight: ~10 g


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



Flashing via DFU

Howto set the Crazyflie in the DFU update mode:

  1. Connect the USB cable to your Crazyflie 2.0 but not to your PC just yet...
  2. Unplug the Crazyflie 2.0 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 2.0 can now receive your new firmware... Click "Upload" in Paparazzi Cente

Flashing via BlackMagicProbe

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

Over Air

  1. WIP...


With e.g. great BlackMagicProbe JTAG adapter development can be smoother than without.



A light GPS


One can add one of thos small ESP based Wifi modules described here