Our public repository for the Crazyflie 2.0 nanoquadcopter from Bitcraze

Contains two different custom firmwares for the Crazyflie 2.0, modified from the original version from Bitcraze found here

Contains the MATLAB/Simulink files to simulate and implement the position/trajectory controllers for the Crazyflie 2.0

Contains the different ROS packages used in the project.

In the folder you will find the complete technical report of the project, with detailed explanations of the mathematical model of the quadcopter, how the simulation was built, experimental results and comparisons, etc.

Watch our Youtube Video showing the different parts of the project:

If you use this repository in research work to be published, please cite:

C. Luis and J. Le Ny, "Design of a Trajectory Tracking Controller for a Nanoquadcopter”, Technical report, Mobile Robotics and Autonomous Systems Laboratory, Polytechnique Montreal, August, 2016.