Crazyflie 2.0

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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.


  • 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


  • 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)
  • 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 2.1 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.


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



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


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


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