Crazyflie Swarm

The Crazyflie Swarm is a Networked Control platform designed for students to learn more about control and for researchers that wish to apply their research in practice. Platform development was started during the Summer of 2015 and continues to this day.

Here you will find descriptions on how the platform works, how you can use it, and how you can get involved in developing the platform further!

Frequently Asked Questions

For help with common problems and troubleshooting please see the FAQ.

Background

The Crazyflie Swarm platform is based off of the Crazyflie Nano-quadcopter produced and maintained by Bitcraze. The Crazyflie is completely open-source so we are able to look at and modify any part of the code and customize it to our needs.

Major Platform Components:

A high level overview of the Crazyflie Platform

• PC Client Software
• Firmware
• USB Radio

Modifying the Platform

• Controller
• Logging
• Keyboard Commands
• Changing Radio Channel
• Flight Modes
• Callbacks
• Adding a Crazyflie
• Firmware

Future Project Ideas

The whole concept of this Platform is to constantly expand its capabilities. If you are interested in developing this platform further here are some ideas to get you started! Additional details on any of these ideas can be found on the Future Project Ideas page.

• Migrating Swarm Client PID's to Firmware
• Tuning X, Y, and Z Location PID's for Faster Response
• Adding Parameter Support to Swarm Client
• Threading Each USB Radio to speed up Computation
• Crazyflie Model Development and Verification
• Developing New Controllers for the Crazyflie (pending Model Development)
• Develop Communications Network Between Crazyflies
• Trilateration Position Estimation using a Swarm

Bitcraze Wiki

Bitcraze maintains their own wiki on the many Crazyflie systems. If you can't find what you are looking for here, chances are they will have something to help.