Crazyflie Firmware

This repo contains the source code for the TinyMPC-integrated firmware used in the Crazyflie 2.1. TinyMPC is publicly available at tinympc.org.

Currently, it supports:

• Full-state quaternion-based LQR or LQI controller within the app layer in examples/controller_lqr and examples/controller_lqi.
• Full-state quaternion-based TinyMPC supporting quadratic objective, linear system, linear and second-order cone constraints on state and control input in example/controller_mpc*.
• Some other related stuff.

High-level commands via https://github.com/sschoedel/crazyswarm/tree/demo/socp

You might want to check different branches for the corresponding experiments.

Feel free to reach out to the developers if you have any questions.

Crazyflie 1.0 support

The 2017.06 release was the last release with Crazyflie 1.0 support. If you want to play with the Crazyflie 1.0 and modify the code, please clone this repo and branch off from the 2017.06 tag.

Building and Flashing

See the building and flashing instructions in the github docs folder. make && CLOAD_CMDS="-w radio://0/1/2M" make cload

Official Documentation

Check out the Bitcraze crazyflie-firmware documentation on our website.

Generated documentation

The easiest way to generate the API documentation is to use the toolbelt

tb build-docs

and to view it in a web page

tb docs

Contribute

Go to the contribute page on our website to learn more.

Test code for contribution

To run the tests please have a look at the unit test documentation.

License

The code is licensed under LGPL-3.0