- Out of tree support for controllers to make it easy to add a custom controller from an app
- Support to configure ESCs with BLHeli Configurator
- Added an UKF estimator
- Bug- and stability fixes
- Support for the Flapper platform
- Added the Brescianini controller
- Support for the motor upgrade kit
- Bug- and stability fixes
- Full Lighthouse support for 2+ base stations
- TDoA3 long range
- CPX improvements
- CRTP over CPX
- UART2 performance improvements
- Syslink over UART2 removed (replaced with CRTP over CPX on UART2)
- Token ring protocol using P2P
- Bolt and Big-quad deck improvements
- DSHORT support for ESCs
- ESC pass-though configuration via USB (virtual COM port)
- Improved stability
- Fixes for avoiding that the AI deck will freeze during restart
- Initial release of the ESP firmware
- Crazyflie AI deck support
- Crazyflie Packet eXchange (CPX) support
- STM32 STD peripheral library updated to version 1.8.0
- General improvements
See the following releases for more details:
The main changes in this release are:
- The Crazyflie Bolt is added as a separate platform. If you are using the Bolt, you should now flash the bolt flavor of the firmware (as opposed to cf2 earlier)
- The Crazyflie firmware uses the kbuild system for configuration and building
- The Crazyflie supports default parameter values based on hardware platform
- The Crazyflie better supports persistent parameters
- Basic support for 2+ Lighthouse base stations
See STM release 2022.03 and NRF release 2022.03 for details.
This release includes the possibility of setting persistent parameters in the Crazyflie's STM. It is now also possible to add non-standard IMU orientation, enhanced CPPM communication and PID control in body aligned coordinates.
Moreover, it is now possible to override the LEDS on the Crazyflie (both STM and NRF) and go into stealth mode. A new, more logical, highlevel commander framework is added as well that. And now, the crazyflie also shutsdown more gracefully with the power button.
On the NRF side of things, the NRF version is now visible in the console of the cflient.
This release also has several bug fixes for the firmware on both the STM and NRF.
This release cleans up issues with the latest release, which focused on Lighthouse. It also contains the new concept of core parameters and documentation of our logging variables and parameters, which can be found on the web:
For a detailed list of fixed issues see the STM release (2021.06), the NRF firmware release (2021.06).
The main feature of this release is support for the Lighthouse Positioning System.
For a detailed list of fixed issues see the STM release (2021.03), the NRF firmware release (2021.03) and the Lighthouse deck FPGA binary (V6).
This release contains:
- an extended and improved app API. Log data and parameters can now be accessed from an app and various functions have been adapted to be easy to use from an app.
- Collision avoidance functionality has been added.
- A persistent storage subsystem has been added to store data in the crazyflie. Initially it is used for lighthouse calibration and geometry data, but will be useful in the future for configuration data in the Bolt for instance.
- Improved support for Lighthouse V2 has been added.
- Various bug fixes and stability improvements.
For a detailed list of fixed issues see the STM release (2021.01). The NRF firmware is the same as in the previous release (2020.09).
- Stability improvements
- Flow and LPS decks now work together
- LPS improvements
For a detailed list of fixed issues see the STM release and NRF release.