PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
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      • Building the Code
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    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
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    • Simulation
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        • Multi-Vehicle Sim
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      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
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        • SiK Radio
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        • I2C Bus
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          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
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        • ActionRequest
        • ActuatorArmed
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On this page
  • Quick Summary
  • Where to Buy
  • Assemble Crazyflie 2.1
  • Flashing PX4
  • Flashing Original Bitcraze Firmware
  • Wireless Setup Instructions
  • Hardware Setup
  • Using FrSky Taranis RC Transmitter as Joystick
  • ROS
  • Flying
  1. Hardware (Drones&Parts)
  2. Complete Vehicles

Bitcraze Crazyflie 2.1

PreviousHolybro Kopis 2NextFlight Controllers (Autopilots)

Last updated 1 year ago

:::warning PX4 does not manufacture this (or any) autopilot. Contact the for hardware support or compliance issues. :::

:::warning PX4 support for this flight controller is . :::

:::warning Crazyflie 2.1 is only able to fly in . :::

The Crazyflie line of micro quads was created by Bitcraze AB. An overview of the Crazyflie 2.1 can be .

Quick Summary

  • Main System-on-Chip: STM32F405RG

    • CPU: 168 MHz ARM Cortex M4 with single-precision FPU

    • RAM: 192 KB SRAM

  • nRF51822 radio and power management MCU

  • BMI088 3 axis accelerometer / gyroscope

  • BMP388 high precision pressure sensor

  • uUSB connector

  • On-board LiPo charger with 100mA, 500mA and 980mA modes available

  • Full speed USB device interface

  • Partial USB OTG capability (USB OTG present but no 5V output)

  • 8KB EEPROM

Where to Buy

Useful peripheral hardware includes:

Assemble Crazyflie 2.1

Flashing PX4

:::note These instructions have only been tested on Ubuntu. :::

After setting up the PX4 development environment, follow these steps to install the PX4 Autopilot on the Crazyflie 2.1:

  1. Download the source code of the PX4 Bootloader:

    git clone https://github.com/PX4/Bootloader.git --recurse-submodules
  2. Navigate into the top directory of the source code and compile it using:

    make crazyflie21_bl
  3. Put the Crazyflie 2.1 into DFU mode by following these steps:

    • Ensure it is initially unpowered.

    • Ensure battery is disconnected.

    • Plug into computer's USB port.

    • After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.

    • Release button.

  4. Install dfu-util:

    sudo apt-get update
    sudo apt-get install dfu-util
  5. Flash bootloader using dfu-util and unplug Crazyflie 2.1 when done:

    sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin

    When powering on the Crazyflie 2.1 the yellow LED should blink.

  6. Download the source code of the PX4 autopilot:

    git clone https://github.com/PX4/PX4-Autopilot.git
  7. Navigate into the top directory of the source code and compile it using:

    cd PX4-Autopilot/
    make bitcraze_crazyflie21_default upload
  8. When prompted to plug in device, plug in Crazyflie 2.1. The yellow LED should start blinking indicating bootloader mode. Then the red LED should turn on indicating that the flashing process has started.

  9. Wait for completion.

Flashing Original Bitcraze Firmware

  1. Put the Crazyflie 2.1 into DFU mode by following these steps:

    • Ensure it is initially unpowered.

    • Ensure battery is disconnected.

    • Hold down the reset button.

    • Plug into computer's USB port.

    • After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.

    • Release button.

  2. Flash bootloader using dfu-util and unplug Crazyflie 2.1 when done:

    sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin

    When powering on the Crazyflie 2.1 the yellow LED should blink.

Wireless Setup Instructions

The onboard nRF module allows connecting to the board via Bluetooth or through the proprietary 2.4GHz Nordic ESB protocol.

  • To fly the Crazyflie 2.1 right away, the Crazyflie phone app is supported via Bluetooth.

Connecting via MAVLink:

  • Use a Crazyradio PA alongside a compatible GCS.

  • Download the crazyflie-lib-python source code:

    git clone https://github.com/bitcraze/crazyflie-lib-python.git
  • Connect a Crazyradio PA via USB.

  • pip install tox --user
  • Navigate to the crazyflie-lib-python folder and type:

    make venv
  • Activate the virtual environment:

    source venv/bin/activate
  • Install required dependencies:

    pip install cflib
    pip install -r requirements.txt

To connect Crazyflie 2.1 with crazyradio, launch cfbridge by following these steps:

  • Power off and power on Crazyflie 2.1 and wait for it to boot up.

  • Connect a Crazyflie radio device via USB.

  • Navigate to the crazyflie-lib-python folder.

  • Activate the environment:

    source venv/bin/activate
  • Navigate to the examples folder:

    cd examples
  • Launch cfbridge:

    python cfbridge.py
  • Open QGroundControl.

  • After using cfbridge, you can deactivate the virtualenv if you activated it by pressing CTRL+z. Most of the time, launching cfbridge again from the same terminal doesn't connect to crazyflie, this can be solved by closing the terminal and relaunching cfbridge in a new terminal.

make venv

:::

:::note The Joystick menu in QGC, only appears after you connect the controller to the PC (for example a Playstation 3 controller).

Hardware Setup

In order to log flight details, you can mount SD card deck on top of crazyflie as shown below:

Using FrSky Taranis RC Transmitter as Joystick

If you already own a Taranis RC transmitter and want to use it as a controller, it can be configured as a USB Joystick:

  • Create a new model in Taranis.

  • In MODEL SETUP menu page, turn off both internal and external TX modules.

  • In OUTPUTS menu page (also called “SERVOS” page in some Taranis transmitters), invert Throttle (CH1) and Aileron (CH3).

To use Taranis switches to arm/disarm and switch to different flight modes:

  • In Taranis UI MIXER menu page, you can assign the switches to any channel in the range channel 9-16 which map to the buttons 0-7 in the QGroundControl Joystick setup. For example, Taranis “SD” switch can be set to channel 9 in Taranis UI:

  • Connect Taranis to PC with a USB cable and Open QGroundControl.

  • In QGroundControl Joystick Setup, you can see the buttons turning yellow when you switch them on. For example, channel 9 in Taranis maps to button 0 in QGroundControl Joystick setup. You can assign any mode to this button e.g. Altitude mode. Now when you lower the switch "SD", flight mode will change to Altitude.

ROS

To connect to Crazyflie 2.1 via MAVROS:

  • Start up cfbridge using the above instructions.

  • Change the UDP port QGroundControl listens to:

    • In QGroundControl, navigate to Application Settings > General and uncheck all the boxes under Autoconnect to the following devices.

    • Add in Comm Links a link of type UDP, check the Automatically Connect on Start option, change the Listening Port to 14557, add Target Hosts: 127.0.0.1 and then press OK.

  • Start MAVROS with command:

    roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14551" gcs_url:="udp://@127.0.0.1:14557"
  • Restart QGroundControl if it doesn't connect.

Flying

:::note The main hardware documentation is :::

The vehicle can be purchased here: (store.bitcraze.io)

: Wireless communication between QGroundControl and Crazyflie 2.0

: Breakout expansion board for connecting new peripherals.

: Optical flow sensor and a distance sensor for altitude and position control.

: Distance sensor for altitude control (same sensor as the Flow deck).

Multi-direction object detection

Audio feedback on system events, like low battery or charging completed.

: Expansion board that gives you the ability to test new hardware easily without soldering.

: High speed onboard logging to a micro SD card

.

Hold down the reset button (see figure below...).

Done! Calibrate the sensors using .

Download the latest

Install the latest Bitcraze Crazyflie 2.1 Firmware using tutorial.

A is recommended.

:::note We will use to setup a wireless MAVlink communication link between Crazyflie 2.1 (flashed with PX4) and QGroundControl. Cfbridge enables QGroundControl to communicate with the crazyradio PA. The is currently experiencing data loss issues, which is why we have chosen to use cfbridge.py. :::

Make sure you have set the udev permissions to use the USB Radio. To do this, follow the steps listed and restart your computer.

Build a with package dependencies using the following method:

:::note Cfbridge by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7. If you are using in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl. Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: python cfbridge.py 90 0x0202020202 :::

:::tip If you change any driver in or if launching cfbridge in a new terminal does not find crazyflie, you can try navigating to the crazyflie-lib-python folder and run the script below to rebuild cflib.

:::

Crazyflie 2.1 is only able to fly in .

Make sure you have installed.

@

here
Crazyflie 2.1
Crazyradio PA 2.4 GHz USB dongle
Breakout deck
Flow deck v2
Z-ranger deck v2
Multi-ranger deck
Buzzer deck
Breakout deck
SD-card deck
Logitech Joystick
Bitcraze crazyflie 2.1 getting started
QGroundControl
Crazyflie 2.1 bootloader
this
Crazyradio PA
cfbridge.py
C based cfbridge
here
virtual environment (local python environment)
multiple crazyflies and/or crazyradios
crazyflie-lib-python
Stabilized mode
MAVROS
youtube
manufacturer
experimental
Manual/Stabilized mode
found here
Crazyflie2 Image
Crazyflie SDCard
Taranis - new model
Taranis - model setup
Taranis - outputs
Taranis switch setup
Joystick setup
Crazyflie2 Reset Button
QGC joystick menu