Introducing Crazyflie 2.0

Crazyflie is a quadrotor that is classified as a micro air vehicle (MAV), as it only weighs 27 grams and can fit in your hand. It was developed and manufactured by Bitcraze AB and comes as a kit—ready to assemble with no soldering required. The designers of Crazyflie wanted to build a small flying electronic board that had minimal mechanical parts. They provide it and support it as an open source development platform, encouraging others to contribute to both Crazyflie hardware and software development. For this book, the Crazyflie 2.0 model was used for testing purposes, but the Crazyflie ROS software indicates that it is compatible with both Crazyflie 1.0 and 2.0 models embedded with stock firmware. The Crazyflie 2.0 model is shown in the following figure and is the model referred to in the rest of this chapter:

Crazyflie 2.0

The size of the assembled Crazyflie is 92 mm (3.6 inches) square motor to motor and 29 mm (1.1 inches) high.

The Crazyflie 2.0 system design...