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github.com/bitcraze/crazyflie-firmware @2026.04

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7,002 symbols 17,687 edges 808 files 2,758 documented · 39% ● updated 5d ago2026.04 · 2026-04-13★ 1,50466 open issues

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README

Crazyflie Firmware

This project contains the source code for the firmware used in the Crazyflie range of platforms, including the Crazyflie 2.x and the Roadrunner.

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.

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

Core symbols most depended-on inside this repo

LOG_ADD

called by 386

src/deck/drivers/src/ledring12.c

i2cdevWriteByte

called by 273

src/drivers/src/i2cdev.c

i2cdevReadBit

called by 173

src/drivers/src/i2cdev.c

i2cdevWriteBit

called by 138

src/drivers/src/i2cdev.c

vTaskDelay

called by 136

test/testSupport/freertosMocks.c

printf

called by 117

src/lib/Segger_RTT/Syscalls/SEGGER_RTT_Syscalls_SES.c

xTaskGetTickCount

called by 108

test/testSupport/freertosMocks.c

VL53L1_i2c_encode_uint16_t

called by 90

src/lib/vl53l1/core/src/vl53l1_core.c

Shape

Function 5,984

Class 634

Method 289

Enum 95

Languages

C86%

C++9%

Python4%

Ruby1%

Rust1%

Modules by API surface

src/drivers/src/mpu6050.c267 symbols

src/drivers/src/mpu6500.c228 symbols

src/drivers/bosch/src/bmi160.c131 symbols

src/modules/interface/math3d.h114 symbols

src/lib/FatFS/ff.c109 symbols

src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c92 symbols

src/lib/vl53l1/core/src/vl53l1_register_funcs.c84 symbols

src/drivers/bosch/src/bmp3.c75 symbols

src/modules/src/crtp_commander_high_level.c73 symbols

scripts/kconfig/qconf.cc73 symbols

src/lib/vl53l1/core/src/vl53l1_api.c70 symbols

src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c69 symbols

For agents

$ claude mcp add crazyflie-firmware \
  -- python -m otcore.mcp_server <graph>

⬇ download graph artifact

github.com/bitcraze/crazyflie-firmware @2026.04

Crazyflie Firmware

Crazyflie 1.0 support

Building and Flashing

Official Documentation

Generated documentation

Contribute

Test code for contribution

License

Core symbols most depended-on inside this repo

Shape

Languages

Modules by API surface

For agents

Ask about this repo answers extend the page