2024.2

This release contains an updated nRF51 firmware and bootloader using the S130 bluetooth stack. The latest client and lib are required to flash this release.

2023.11

This release contain a couple of new features along with some bug fixes, mostly all for the STM32: https://github.com/bitcraze/crazyflie-firmware/releases/tag/2023.11

Contents

Crazyflie-firmware 2023.11
Crazyflie2-nrf-firmware 2023.11
lighthouse-fpga V6 (same as previous release)
aideck-esp-firmware 2023.06 (same as previous release)

2023.07

Major updates

This is a maintenance release that fixes a few issues in the Crazyflie firmware. No new functionality was added.

Contents

• crazyflie-firmware 2023.06
• crazyflie2-nrf-firmware 2023.02 (same as previous release)
• lighthouse-fpga V6 (same as previous release)
• aideck-esp-firmware 2023.06

2023.06

Major updates

• Extended supervisor with arming functionality
• Improved TDoA outlier filter that supports TDoA3 long range
• Bug- and stability fixes

Contents

• crazyflie-firmware 2023.06
• crazyflie2-nrf-firmware 2023.02 (same as previous release)
• lighthouse-fpga V6 (same as previous release)
• aideck-esp-firmware 2023.06

2023.02

Major updates

• 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

Contents

• crazyflie-firmware 2023.02
• crazyflie2-nrf-firmware 2023.02
• lighthouse-fpga V6 (same as previous release)
• aideck-esp-firmware 2022.09 (same as previous release)

2022.12

Major updates

• Support for the Flapper platform
• Added the Brescianini controller
• Support for the motor upgrade kit
• Bug- and stability fixes

Contents

• crazyflie-firmware 2022.12
• crazyflie2-nrf-firmware 2022.12
• lighthouse-fpga V6 (same as previous release)
• aideck-esp-firmware 2022.09 (same as previous release)

2022.09

Major updates

• 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

Contents

• crazyflie-firmware 2022.09
• crazyflie2-nrf-firmware 2022.09
• lighthouse-fpga V6 (same as previous release)
• aideck-esp-firmware 2022.09

2022.05

Major changes

• 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:

• STM release 2022.05
• nRF release 2022.05
• ESP release 2022.05

2022.03

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.

2022.01

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.